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Book Cover
Author Secchi, Cristian

Title Control of interactive robotic interfaces : a port-Hamiltonian approach / Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
Published Berlin ; London : Springer, 2007


Description 1 online resource (xxii, 233 pages) : illustrations
Series Springer tracts in advanced robotics ; v. 29
Springer tracts in advanced robotics ; v. 29.
Contents Physical Modeling and Port-Hamiltonian Systems -- Control of Port-Hamiltonian Systems -- A Port-Hamiltonian Approach to the Control of Interaction -- Port-Hamiltonian Based Bilateral Telemanipulation -- Transparency in Port-Hamiltonian Based Telemanipulation
Summary "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."--Jacket
Bibliography Includes bibliographical references (pages 211-230) and index
Notes English
Print version record
Subject Robots -- Control systems.
Tactile sensors.
Tactile sensors.
Robots -- Control systems.
Robots -- Control systems
Tactile sensors
Form Electronic book
Author Stramigioli, Stefano, 1968-
Fantuzzi, Cesare
ISBN 9783540497158