Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

  • Cristian Secchi
  • Cesare Fantuzzi
  • Stefano Stramigioli

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 29)

About this book


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.


Haptics Interactive Robotic Interfaces Port-Hamiltonian Systems Telerobotics behavior control modeling robot

Authors and affiliations

  • Cristian Secchi
    • 1
  • Cesare Fantuzzi
    • 1
  • Stefano Stramigioli
    • 2
  1. 1.DISMI — University of Modena and Reggio EmiliaReggio EmiliaItaly
  2. 2.Universiteit Twente EL/CEEnschedeThe Netherlands

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2007
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-540-49712-7
  • Online ISBN 978-3-540-49715-8
  • Series Print ISSN 1610-7438
  • Buy this book on publisher's site