Control of interactive robotic interfaces : a port-hamiltonian approach /
Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi.
- 1st ed.
- [S.l.] : Springer, 2007.
- 233 p. ; 24 cm.
- Springer tracts in advanced robotics ; No. 29. .
- Springer tracts in advanced robotics ; No. 29. .
This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.