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.
Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics) Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi
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