Control of interactive robotic interfaces: A port-Hamiltonian approach

C Secchi, C. Fantuzzi, Stefano Stramigioli

Research output: Book/ReportBookAcademic

Abstract

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.
Original languageEnglish
Place of PublicationNew York
PublisherSpringer
Number of pages218
ISBN (Print)978-3-540-49712-7
DOIs
Publication statusPublished - 2007

Publication series

NameSpringer Tracks in advanced robotics
PublisherSpringer Verlag
No.2/29
Volume29
ISSN (Print)1610-7438

Fingerprint

Hamiltonians
Robotics
Robots
Haptic interfaces
Energy storage
Virtual reality
Controllers

Cite this

Secchi, C., Fantuzzi, C., & Stramigioli, S. (2007). Control of interactive robotic interfaces: A port-Hamiltonian approach. (Springer Tracks in advanced robotics; Vol. 29, No. 2/29). New York: Springer. https://doi.org/10.1007/978-3-540-49715-8
Secchi, C ; Fantuzzi, C. ; Stramigioli, Stefano. / Control of interactive robotic interfaces: A port-Hamiltonian approach. New York : Springer, 2007. 218 p. (Springer Tracks in advanced robotics; 2/29).
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Secchi, C, Fantuzzi, C & Stramigioli, S 2007, Control of interactive robotic interfaces: A port-Hamiltonian approach. Springer Tracks in advanced robotics, no. 2/29, vol. 29, Springer, New York. https://doi.org/10.1007/978-3-540-49715-8

Control of interactive robotic interfaces: A port-Hamiltonian approach. / Secchi, C; Fantuzzi, C.; Stramigioli, Stefano.

New York : Springer, 2007. 218 p. (Springer Tracks in advanced robotics; Vol. 29, No. 2/29).

Research output: Book/ReportBookAcademic

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Secchi C, Fantuzzi C, Stramigioli S. Control of interactive robotic interfaces: A port-Hamiltonian approach. New York: Springer, 2007. 218 p. (Springer Tracks in advanced robotics; 2/29). https://doi.org/10.1007/978-3-540-49715-8