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Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach

By Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
Paperback
$169.99
By Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
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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 pro...

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