Springer Tracts in Advanced Robotics Volume 29

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

Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universit`a degli Studi di Napoli Fede- 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 Morselli Building

Via G. Amendola 2 42100 Reggio Emilia Italy

secchi.christian@unimore.it cesare.fantuzzi@unimore.it

Prof. Dr. Stefano Stramigioli Universiteit Twente EL/CE

Postbus 217 7500 EAE Enschede The Netherlands S.Stramigioli@ieee.org

ISSN print edition: 1610-7438 ISSN electronic edition: 1610-742X

ISBN-10 3-540-49712-9 Springer Berlin Heidelberg New York ISBN-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 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 springer.com

© Springer-Verlag Berlin Heidelberg 2007 Printed 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 and regulations and therefore free for general use.

Typesetting: Digital data supplied by authors.

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Printed on acid-free paper 89/3141/Yu - 5 4 3 2 1 0

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)

ROBOTICS_Research

Network European

EUR ON

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B27

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