Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics, no. 29)

1:37 PM 2007, Artificial Intelligence, Robotics, Springer No Comments

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.

Content Level » Research
Keywords » Haptics - Interactive Robotic Interfaces - Port-Hamiltonian Systems - Telerobotics
Related subjects » Applications - Artificial Intelligence - Robotics

TABLE OF 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.
- A Mathematical Background.

Product Details
Series: Springer Tracts in Advanced Robotics, Vol. 29
Secchi, Cristian, Stramigioli, Stefano, Fantuzzi, Cesare
Hardcover: 233 pages
Publisher: Springer; 1 edition (March 28, 2007)
Language: English
ISBN-10: 3540497129
ISBN-13: 978-3540497127