{"product_id":"control-of-interactive-robotic-interfaces-a-port-hamiltonian-approach-9783642080616","title":"Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach","description":"\u003cp\u003e • Author(s): Cristian Secchi\u003cbr\u003e • Publisher: Springer\u003cbr\u003e • Publisher Imprint: Springer\u003cbr\u003e • BISAC: Robotics\u003c\/p\u003e\u003cp\u003e\u003c\/p\u003e\u003cp\u003e\u003cb\u003eFrom the Back Cover\u003c\/b\u003e\u003cbr\u003e\u003c\/p\u003e\u003cp\u003eWhen 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.\u003c\/p\u003e \u003cp\u003eThe 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. \u003c\/p\u003e \u003cp\u003eThis 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. \u003c\/p\u003e \u003cp\u003eThanks 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.\u003c\/p\u003e","brand":"Springer","offers":[{"title":"Paperback","offer_id":45277358948503,"sku":"9783642080616","price":11017.0,"currency_code":"INR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0666\/3471\/1191\/files\/9783642080616.webp?v=1769288154","url":"https:\/\/atlanticbooks.com\/products\/control-of-interactive-robotic-interfaces-a-port-hamiltonian-approach-9783642080616","provider":"Atlantic Books","version":"1.0","type":"link"}