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: 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 vanAmsterdam, Kruislaan 403, 1098 SJAmsterdam, The Netherlands, email: groen@science.uva.nl

Authors

Dr. Cristian SecchiProf. Dr. Cesare Fantuzzi

DISMI – University of Modena and Reggio EmiliaMorselli BuildingVia G. Amendola 242100 Reggio EmiliaItaly

secchi.christian@unimore.itcesare.fantuzzi@unimore.it

Prof. Dr. Stefano Stramigioli

Universiteit TwenteEL/CEPostbus 2177500 EAE EnschedeThe Netherlands

S.Stramigioli@ieee.org

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

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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