Springer Tracts in Advanced Robotics
cover

Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

Authors: Secchi, Cristian, Stramigioli, Stefano, Fantuzzi, Cesare

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About this book

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 based on the concepts of energy, interconnection and power ports which describe the phenomena of energy storage, energy exchange and external interaction respectively.

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)


Table of contents (5 chapters)

Table of contents (5 chapters)
  • Physical Modeling and Port-Hamiltonian Systems

    Pages 1-31

  • Control of Port-Hamiltonian Systems

    Pages 33-76

  • A Port-Hamiltonian Approach to the Control of Interaction

    Pages 77-125

  • Port-Hamiltonian Based Bilateral Telemanipulation

    Pages 127-163

  • Transparency in Port-Hamiltonian Based Telemanipulation

    Pages 165-199

Buy this book

eBook $129.00
price for USA in USD (gross)
  • ISBN 978-3-540-49715-8
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $219.99
price for USA in USD
  • ISBN 978-3-540-49712-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $169.99
price for USA in USD
  • ISBN 978-3-642-08061-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Control of Interactive Robotic Interfaces
Book Subtitle
A Port-Hamiltonian Approach
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
29
Copyright
2007
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-49715-8
DOI
10.1007/978-3-540-49715-8
Hardcover ISBN
978-3-540-49712-7
Softcover ISBN
978-3-642-08061-6
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XXIII, 233
Number of Illustrations
86 b/w illustrations
Topics