Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach /

• Main Authors: Secchi, Cristian (Author), Fantuzzi, Cesare (Author), Stramigioli, Stefano (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2007.
• Series: Springer Tracts in Advanced Robotics, 29
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy. The port-Hamiltonian formalism provides a general framework for modeling physical systems ba...