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    3. Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

    Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

    Posted By: ms_ms2
    Date: 9 Apr 2008 13:23:00
    Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

    Cristian Secchi , Stefano Stramigioli , Cesare Fantuzzi
    " Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach "
    springer | 2007 | ISBN: 3540497129 | 233 pages | PDF | 2.24 Mb


    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 robotic interface by shaping its energetic properties.
    Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed.
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