Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach
Springer; 1 edition | March 28, 2007 | ISBN-10: 3540497129 | 233 pages | PDF | 2.25 Mb
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.