Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

by Stefano Stramigioli, Cristian Secchi, Cesare Fantuzzi

Book Overview

This monograph deals with energy based control of interactive robotic interfaces and the port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. Using the port-Hamiltonian framework, it is possible to identify the energetic properties that have to be controlled in order to achieve a desired interactive behavior and it is possible to build a port-Hamiltonian controller that properly regulates the...

• Format: Hardcover
• Language: English
• ISBN: 3540497129
• ISBN13: 9783540497127
• Release Date: February 2007
• Publisher: Springer
• Length: 233 Pages
• Weight: 1.19 lbs.
• Dimensions: 0.6" x 6.1" x 9.2"