Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach /
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 ba...
| Main Authors: | , , |
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| Corporate Author: | |
| Language: | English |
| Published: |
Berlin, Heidelberg :
Springer Berlin Heidelberg : Imprint: Springer,
2007.
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| Edition: | 1st ed. 2007. |
| Series: | Springer Tracts in Advanced Robotics,
29 |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/978-3-540-49715-8 |
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.