Springer Tracts in Advanced Robotics Volume 29 Editors: Bruno Siciliano Oussama Khatib Frans pdf
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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 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:
Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,
Stanford, CA 94305-9010, USA, email:
Professor Frans Groen, Department of Computer Science, Universiteit vanAmsterdam, Kruislaan 403, 1098 SJ
Amsterdam, The Netherlands, email:
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
Prof. Dr. Stefano Stramigioli
Universiteit Twente
EL/CE
Postbus 217
7500 EAE Enschede
The Netherlands
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.
Data-conversion and production: PTP-Berlin Protago-T
E
X-Production GmbH, Germany (www.ptp-berlin.com)
Cover-Design: WMXDesign GmbH, Heidelberg
Printed on acid-free paper 89/3141/Yu-543210
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
EURON
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; ??&K# $&?&;4
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V&KY &,& Q5V& WY Q= $&L K5& ?3&;=9&;=; 5L Y 9&;L =+ &EUQ5=;L" ;
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=;LQ5QUQ5V& &EUQ5=;LC
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-
&-
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-
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B I @& &-
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@& &-
&-
A += .=2 &3V5=K8 &EUQ5=; K&?K&L&;QQ5=; 2! @& A7
H/4. 37'7 =;L5$&K 85;&K K&L5LQ=KC Q 5L W&88 7;=W; Q3Q Q3& K&8Q5=;
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K& LQ5L.&$C ; =K$&K Q= &X?K&LL Q3& 9=$&8 5; =;V&;5&;Q WY# 5Q ; &
;& &LLKY Q= 5;QK=$U & L=9& UX585KY VK58&L 5; $$5Q5=; Q= Q3=L& Q3Q 3V&
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;$ LLU9& Q3Q Q3& &3V5=KL =+ Q3& UKK&;Q ;$ =+ Q3& V=8Q2& Q Q3&
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0
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+= B)0 $0 I
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@& A7
15>5= C.-), C8<-8
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59?=KQ; & 5; =;QK=8 Q3&=KYC Q 5L ?=LL58& Q= $&L K5& Q3&L& LYLQ&9L 5; Q3&
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1
+= B) )F+2<7 <
+0+B= B) =B 2! /4= !<2/
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Q3Q K& =9?Q58& W5Q3 Q3& LYLQ&9C
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=+ B2 Q59& 5;VK5;Q +! E
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Q3Q Q3& $Y;95 8 LYLQ&9L U;$&K =;L5$&KQ5=; K& Q59& 5;VK5;QC 3& K&LU8QL
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K=8& 5L Q= K&?K&L&;Q Q3& 5;Q&K;8 9&9=KY =+ Q3& LYLQ&9C
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B) =BB 2! I0/+. =I=B/ 20B+0= =E#+0B +0!2</B+20 2EB B) 4=B
+0 2<< B2 B</+0 B) !EBE< )F+2<7
EU&LQ5=; Q3Q K5L&L V&KY ;QUK88Y Q Q35L ?=5;Q 5L" 2G 0 =BB =4
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L ;$ =+ Z&K= =K$&K 5; KC 3& Q3&=K&9 $=&L LQQ& Q3Q Q3& &3V5=K8
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Q= K&?K&L&;Q =Q3 &X?85 5Q ;$ 59?85 5Q LYLQ&9LC
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KQ3&K 5QL LQK&;2Q3C ;?UQL ;$ =UQ?UQL L3=U8$ & E !<2/ Q3& 9Q3&94
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; Q3& +=88=W5;2 W& &X?85; 3=W 5Q 5L ?=LL58& Q= 25V& ; 5;?UQP=UQ?UQ
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2
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L? & B) =UQ?UQ L52;8 L? & 0 1@+A
B) )F+2<7 ) !2 2G+0(
4<24<B+= )F B2 =B+=$
37 I !
+= !<> +77 !2< I ! B)< H+=B= N !
=E) B)B @I& NA !7
D7 I !
+= /H+/ I !<> +77 020 2! B) 2/4200B= 2! N !
0
)2=0 !<.I7
3& $&.;5Q5=; LQQ&L Q3Q ; 5;?UQP=UQ?UQ ?KQ5Q5=; =+ Q3& L52;8 L? & 5L L&;4
L58& =;8Y 5+ Q3& 5;?UQ I ; & 3=L&; +K&&8Y @?K=?&KQY >A ;$ 5+ 5Q $&Q&K95;&L
U;5V= 88Y# =; & .X&$ Q3& 5;5Q58 =;$5Q5=;L# Q3& =UQ?UQ @?K=?&KQY TAC ; =;4
QK=8 Q3&=KY V&KY &LL&;Q58 ;$ 8=25 8 +&QUK& ; P $Y;95 8 LYLQ&9 9ULQ
3V& 5L ;=; ;Q5 5?Q5=;C 35L ?K=?&KQY K&EU5K&L Q3Q Q3& V8U&L =+ Q3& =UQ?UQ
Q &KQ5; Q59& $=&L ;=Q $&?&;$ =; Q3& +UQUK& V8U&L =+ Q3& 5;?UQC ; P
$Y;95 8 LYLQ&9 W35 3 &;6=YL Q35L ?K=?&KQY 5L 88&$ 020 0B++4B+0( A
I0/+. =I=B/C
Q 5L ?=LL58& Q= =95;& Q3& ;=Q5=;L =+ 5;?UQ ;$ =UQ?UQ W5Q3 Q3& =; &?Q
=+ LQQ& ;$ Q= =Q5; V&KY UL&+U8 K&?K&L&;QQ5=; =+ $Y;95 8 LYLQ&9L"
".)<)0. 151: 3;; C.-), 8C8<-45 0 AA I0/+. =I*
=B/ += $0 = /*BE4.
22
)@& & & &
!
A G)< <4<=0B= B)
B+/ H+= B) +04EB =+(0. =4 B) 2EB4EB =+(0. =4 B) =BB
=4 0
!
1 @+& A
B) !E )F+2<7 ) !2 2G+0( H+2/= /E=B
=B+=$
37 @& +& &
!
A += =BB =4 I0/+. =I=B/
D7 @& & +&
!
A += 020 0B++4B+0( A I0/+. =I=B/
C7 @& & &
!
A += 020 0B++4B+0( A I0/+. =I=B/7
!
<4<=0B=
B) +04EBA=BB )F+2<
!
) @I& LA" +#N " =7B7 @I& N& LA !
!
; PP $Y;95 8 LYLQ&9 5L ;=Q35;2 &8L& Q3; LQQ& L? & $Y;95 8
LYLQ&9 @?K=?&KQY >A W3&K& ; 5;?UQ =UQ?UQ ?KQ5Q5=; 3L &&; 9$& =; Q3&
L52;8 L? &C UKQ3&K9=K& ;&5Q3&K Q3& =UQ?UQ ;=K Q3& LQQ& $&?&;$ =; +UQUK&
5;+=K9Q5=; =+ Q3& 5;?UQ VK58& @?K=?&KQ5&L T ;$ RAC
5V&; ; PP $Y;95 8 LYLQ&9
22
)@& & & &
!
A5Q5L8WYL
?=LL58& Q= =Q5; ; P $Y;95 8 LYLQ&9
2
)@& & & A W5Q3"
