Control of interactive robotic interfaces : a Port-Hamiltonian approach

書誌事項

Control of interactive robotic interfaces : a Port-Hamiltonian approach

Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

(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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詳細情報
  • NII書誌ID(NCID)
    BA81635476
  • ISBN
    • 9783540497127
  • 出版国コード
    gw
  • タイトル言語コード
    eng
  • 本文言語コード
    eng
  • 出版地
    Berlin
  • ページ数/冊数
    xxiii, 233 p.
  • 大きさ
    24 cm
  • 分類
  • 親書誌ID
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