| 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.
|
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Tactile sensors.
|
|
Robots -- Control systems.
|
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Ingénierie.
|
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Robots -- Control systems.
|
|
Tactile sensors.
|
| Form |
Electronic book
|
| Author |
Stramigioli, Stefano, 1968-
|
|
Fantuzzi, Cesare
|
| ISBN |
9783540497158 |
|
3540497153 |
|
3540497129 |
|
9783540497127 |
|
6610853010 |
|
9786610853014 |
|
1280853018 |
|
9781280853012 |
|
