Control of interactive robotic interfaces : a Port-Hamiltonian approach
著者
書誌事項
Control of interactive robotic interfaces : a Port-Hamiltonian approach
（Springer tracts in advanced robotics, v. 29）
Springer, c2007
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注記
Includes bibliographical references (p. [211]-230) and index
内容説明・目次
内容説明
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.
目次
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.
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