Control of interactive robotic interfaces : a Port-Hamiltonian approach
When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy. The port-Hamiltonian formalism provides a general framework for modeling physical systems ba...
Wedi'i Gadw mewn:
| Prif Awduron: | , , |
|---|---|
| Fformat: | Livre numérique |
| Iaith: | Anglais |
| Cyhoeddwyd: |
Berlin, Heidelberg :
Springer Berlin Heidelberg
[20..].
Cham : Springer Nature |
| Cyfres: | Springer Tracts in Advanced Robotics
29 |
| Mynediad Ar-lein: | Accès sur la plateforme de l'éditeur Accès sur la plateforme de l'éditeur (Springer) Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
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Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
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| Edition sous un autre format: | • Control of Interactive Robotic Interfaces, Texte imprimé, 9783540497127 • Control of Interactive Robotic Interfaces, Texte imprimé, 9783642080616 • Control of Interactive Robotic Interfaces, Texte imprimé, 9783540833338 |
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| 020 | |a 9783540497158 | ||
| 041 | 0 | |a eng | |
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| 100 | 1 | |a Secchi, Cristian, |d 19..- | |
| 245 | 1 | 0 | |a Control of interactive robotic interfaces : |b a Port-Hamiltonian approach |c by Cristian Secchi, Cesare Fantuzzi, Stefano Stramigioli. |
| 260 | |a Berlin, Heidelberg : |b Springer Berlin Heidelberg. | ||
| 260 | |a Cham : |b Springer Nature, |c [20..]. | ||
| 490 | 0 | |a Springer Tracts in Advanced Robotics |v 29 |x 1610-742X | |
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 505 | 0 | |a Physical Modeling and Port-Hamiltonian Systems -- Control of Port-Hamiltonian Systems -- A Port-Hamiltonian Approach to the Control of Interaction -- Port-Hamiltonian Based Bilateral Telemanipulation -- Transparency in Port-Hamiltonian Based Telemanipulation. | |
| 506 | |a Accès en ligne pour les établissements français bénéficiaires des licences nationales | ||
| 506 | |a Accès soumis à abonnement pour tout autre établissement | ||
| 506 | |a Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 | ||
| 520 | |a When two physical systems (e.g. a robot and its environment) interact they exchange energy through localized ports and, in order to control their interaction, it is necessary to control the exchanged energy. The port-Hamiltonian formalism provides a general framework for modeling physical systems based on the concepts of energy, interconnection and power ports which describe the phenomena of energy storage, energy exchange and external interaction respectively. 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 properties. Thanks to its generality, the port-Hamiltonian formalism allows to model and control also complex interactive robotic interfaces in a very natural way. In this book, a port-Hamiltonian approach for regulating the interaction between a robot and a local environment, a virtual environment (i.e. haptic interfaces) and a remote environment (i.e. bilateral telemanipulation systems) is developed. | ||
| 700 | 1 | |a Stramigioli, Stefano. |4 aut | |
| 700 | 1 | |a Fantuzzi, Cesare. |4 aut | |
| 776 | 0 | |t Control of Interactive Robotic Interfaces |b Texte imprimé |z 9783540497127 | |
| 776 | 0 | |t Control of Interactive Robotic Interfaces |b Texte imprimé |z 9783642080616 | |
| 776 | 0 | |t Control of Interactive Robotic Interfaces |b Texte imprimé |z 9783540833338 | |
| 856 | 4 | |q PDF |u https://doi.org/10.1007/978-3-540-49715-8 |z Accès sur la plateforme de l'éditeur | |
| 856 | 4 | |u https://doi.org/10.1007/978-3-540-49715-8 |z Accès sur la plateforme de l'éditeur (Springer) | |
| 856 | 4 | |u https://revue-sommaire.istex.fr/ark:/67375/8Q1-QF4BZK4J-5 |z Accès sur la plateforme Istex | |
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