Springer Tracts in Advanced Robotics Volume 29 ppt

Springer Tracts in Advanced Robotics Volume 29Editors: Bruno Siciliano · Oussama Khatib · Frans Groen... rico II, Via Claudio 21, 80125 Napoli, Italy, email: siciliano@unina.itProfessor

Springer Tracts in Advanced Robotics Volume 29

Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Cristian Secchi ž Stefano Stramigioli ž Cesare Fantuzzi

Control of Interactive Robotic Interfaces

A Port-Hamiltonian Approach

With 86 Figures

rico II, Via Claudio 21, 80125 Napoli, Italy, email: siciliano@unina.it

Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,

Stanford, CA 94305-9010, USA, email: khatib@cs.stanford.edu

Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ

Amsterdam, The Netherlands, email: groen@science.uva.nl

Authors

Dr Cristian Secchi

Prof Dr Cesare Fantuzzi

DISMI – University of Modena and Reggio Emilia

Postbus 217

7500 EAE EnschedeThe NetherlandsS.Stramigioli@ieee.org

ISSN print edition: 1610-7438

ISSN electronic edition: 1610-742X

Library of Congress Control Number: 2006937681

This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer Violations are liable to prosecution under German Copyright Law.

Springer is a part of Springer Science+Business Media

Typesetting: Digital data supplied by authors.

Data-conversion and production: PTP-Berlin Protago-TEX-Production GmbH, Germany (www.ptp-berlin.com) Cover-Design: WMXDesign GmbH, Heidelberg

Editorial Advisory Board

EUROPE

Herman Bruyninckx, KU Leuven, Belgium

Raja Chatila, LAAS, France

Henrik Christensen, KTH, Sweden

Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy

R¨udiger Dillmann, Universit¨at Karlsruhe, Germany

AMERICA

Ken Goldberg, UC Berkeley, USA

John Hollerbach, University of Utah, USA

Lydia Kavraki, Rice University, USA

Tim Salcudean, University of British Columbia, Canada

Sebastian Thrun, Stanford University, USA

ASIA/OCEANIA

Peter Corke, CSIRO, Australia

Makoto Kaneko, Hiroshima University, Japan

Sukhan Lee, Sungkyunkwan University, Korea

Yangsheng Xu, Chinese University of Hong Kong, PRC

Shin’ichi Yuta, Tsukuba University, Japan

STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices

of EURON (European Robotics Research Network)

ROBOTICSResearch

Network European

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