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Product Details 基本信息 ISBN-13 书号 9783540497127 Author 作者 Cristian Secchi Università Modena e Reggio Emilia Dipto. Sc Format 版本 精装 Pages Number 页数 233页 Publisher 出版社 Springer Berlin Heidelberg Publication Date 出版日期 2007-02-15 Language 语种 英语 Book Contents 内容简介 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 interf
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