Overview
- 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
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 29)
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Table of contents (5 chapters)
Keywords
About this book
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.
Reviews
From the reviews:
"This book deals with the important problem of modeling and controlling the interaction between two physical systems—from one side the robot and from the other side its environment. … It is a suitable tool to formally model physical systems based on the energy concept and its relations. The authors introduce the energy-based control to the modeling and controlling phase of interactive robotics interfaces. … The theoretical considerations and solutions are well interpreted with some practical examples." (Aleksander Michal Nawrat, Mathematical Reviews, Issue 2008 f)
Authors and Affiliations
Bibliographic Information
Book Title: Control of Interactive Robotic Interfaces
Book Subtitle: A Port-Hamiltonian Approach
Authors: Cristian Secchi, Cesare Fantuzzi, Stefano Stramigioli
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-540-49715-8
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2007
Hardcover ISBN: 978-3-540-49712-7Published: 15 February 2007
Softcover ISBN: 978-3-642-08061-6Published: 30 November 2010
eBook ISBN: 978-3-540-49715-8Published: 16 April 2007
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XXIII, 233
Number of Illustrations: 86 b/w illustrations
Topics: Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control