Geometric scattering in robotic telemanipulation

Stefano Stramigioli, Arjan van der Schaft, Bernhard Maschke, Claudio Melchiorri

    Research output: Contribution to journalArticleAcademicpeer-review

    110 Citations (Scopus)
    21 Downloads (Pure)


    In this paper, we study the interconnection of two robots, which are modeled as port-controlled Hamiltonian systems through a transmission line with time delay. There will be no analysis of the time delay, but its presence justifies the use of scattering variables to preserve passivity. The contributions of the paper are twofold: first, a geometrical, multidimensional, power-consistent exposition of telemanipulation of intrinsically passive controlled physical systems, with a clarification on impedance matching, and second, a system theoretic condition for the adaptation of a general port-controlled Hamiltonian system with dissipation (port-Hamiltonian system) to a transmission line.
    Original languageEnglish
    Pages (from-to)588-596
    Number of pages9
    JournalIEEE transactions on robotics and automation
    Issue number4
    Publication statusPublished - Aug 2002


    • Passivity
    • Scattering
    • Hamiltonian systems
    • EWI-16721
    • physical control
    • IR-44077
    • METIS-208331
    • Telemanipulation


    Dive into the research topics of 'Geometric scattering in robotic telemanipulation'. Together they form a unique fingerprint.

    Cite this