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Springer Tracts in Advanced Robotics
Volume 29
Editors: Bruno Siciliano · Oussama Khatib · Frans Groen
Cristian Secchi � Stefano Stramigioli � Cesare Fantuzzi
Control of InteractiveRobotic Interfaces
A Port-Hamiltonian Approach
With 86 Figures
Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Fede-rico II, Via Claudio 21, 80125 Napoli, Italy, email: [email protected]
Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,Stanford, CA 94305-9010, USA, email: [email protected]
Professor Frans Groen, Department of Computer Science, Universiteit vanAmsterdam, Kruislaan 403, 1098 SJAmsterdam, The Netherlands, email: [email protected]
Authors
Dr. Cristian SecchiProf. Dr. Cesare Fantuzzi
DISMI – University of Modena and Reggio EmiliaMorselli BuildingVia G. Amendola 242100 Reggio EmiliaItaly
[email protected]@unimore.it
Prof. Dr. Stefano Stramigioli
Universiteit TwenteEL/CEPostbus 2177500 EAE EnschedeThe Netherlands
ISSN print edition: 1610-7438ISSN electronic edition: 1610-742X
ISBN-10 3-540-49712-9 Springer Berlin Heidelberg New YorkISBN-13 978-3-540-49712-7 Springer Berlin Heidelberg New York
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 onmicrofilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permittedonly under the provisions of the German Copyright Law of September 9, 1965, in its current version, andpermission for use must always be obtained from Springer. Violations are liable to prosecution under GermanCopyright Law.
Springer is a part of Springer Science+Business Mediaspringer.com
© Springer-Verlag Berlin Heidelberg 2007Printed in Germany
The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply,even in the absence of a specific statement, that such names are exempt from the relevant protective laws andregulations and therefore free for general use.
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, HeidelbergPrinted on acid-free paper 89/3141/Yu - 5 4 3 2 1 0
Editorial Advisory Board
EUROPEHerman Bruyninckx, KU Leuven, BelgiumRaja Chatila, LAAS, FranceHenrik Christensen, KTH, SwedenPaolo Dario, Scuola Superiore Sant’Anna Pisa, ItalyRudiger Dillmann, Universitat Karlsruhe, Germany
AMERICAKen Goldberg, UC Berkeley, USAJohn Hollerbach, University of Utah, USALydia Kavraki, Rice University, USATim Salcudean, University of British Columbia, CanadaSebastian Thrun, Stanford University, USA
ASIA/OCEANIAPeter Corke, CSIRO, AustraliaMakoto Kaneko, Hiroshima University, JapanSukhan Lee, Sungkyunkwan University, KoreaYangsheng Xu, Chinese University of Hong Kong, PRCShin’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
EURON
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Printing: Krips bv, MeppelBinding: Stürtz, Würzburg