@inbook{a0523840d34e41538315e3500713ea65,
title = "Power scaling in port-Hamiltonian telemanipulation over packet switched networks",
abstract = "In several important applications involving bilateral telemanipulation systems (e.g. macro-micro teleoperation, telesurgery) master and slave act at different power scales. In this contribution, we illustrate how to embed power scaling into port-Hamiltonian based telemanipulation schemes over packet switched networks. We propose a discrete scattering based communication strategy to scale the power exchanged between master and slave sides and a way to handle lost packets that allow to get power scaling while preserving a stable behavior of the system independently of any communication delay and of any possible loss of packets.",
keywords = "EWI-11053, IR-61914, METIS-241909",
author = "Cristian Secchi and Stefano Stramigioli and Cesare Fantuzzi",
year = "2007",
month = jan,
doi = "10.1007/978-3-540-71364-7_15",
language = "Undefined",
isbn = "978-3-540-71363-0",
series = "Springer tracts in advanced robotics",
publisher = "Springer",
number = "LNCS4549/31",
pages = "233--256",
editor = "M. Ferre and M. Buss and R. Aracil and C. Melchiorri and C. Balaguer",
booktitle = "Advances in Telerobotics",
address = "Germany",
}