Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

by Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi

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.

233 pages, Hardcover

First published January 1, 2007