Springer Tracts in Advanced Robotics Volume 29 pptx

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: 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 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. 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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 * * * * * * * * * * * *      #'0#' Q Q3& $W; 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LYLQ&9L K& 5;QK=$U &$C ; 3?Q&K T &;&K2Y 5L &X?8=5Q&$ +=K =;QK=8 ?UK?=L& ;$ 5Q 5L L3=W; 3=W Q= &X?8=5Q Q3& &;&K2&Q5 ?K=?&KQ5&L =+ ?=KQ4958Q=;5; LYLQ&9L Q= U58$ &;&K2Y4 L&$ =;QK=88&KL Q3Q 88=W Q= L=8V& Q3& K&2U8Q5=; ?K=8&9 +=K ?3YL5 8 LY4 LQ&9LC 3& L5 L =+ ?LL5V5QY Q3&=KY K& ?K&L&;Q&$ ;$ Q3& 85;7 &QW&&; LQ585QY =+  &KQ5; =;.2UKQ5=; ;$ Q3& L3?& =+ Q3& &;&K2Y =+ Q3& ?3YL54 8 LYLQ&9 5L 588ULQKQ&$C 3& &;&K2Y L3?5;2 K&2U8Q5=; Q& 3;5EU& +=K ?=KQ4 958Q=;5; LYLQ&9L 5L ?K&L&;Q&$ =Q3 +K=9 ; &;&K2Y 8; 5;2 ;$ ; 5;4 Q&K =;;& Q5=; ; $9?5;2 LL52;9&;Q ?&KL?& Q5V&C  =;QK=8 LQKQ&2Y Q3Q &9&$L VK58& LQKU QUK& Q& 3;5EU&L 5; &;&K2Y L&$ =;QK=8 5L 588ULQKQ&$C 3& K&LU8Q5;2 =;QK=8 L 3&9& 88=WL Q= &;3; & K=ULQ;&LL ;$ ?&K+=K9;4 &L 5; K&2U8Q5=; QL7L ;$ 5Q 5L Q3& K&LU8Q =+  =88=KQ5=; W5Q3 8&LL;$K=  3&885 ;$ 8U$5= &8 35=KK5 +K=9 Q3& ;5V&KL5QY =+ =8=2;C ; 3?Q&K R Q3& ?K=8&9 =+ =;QK=885;2 5;Q&K Q5V& K==Q5 5;Q&K+ &L 5L 5;4 QK=$U &$C ; &;&K2&Q5 ;8YL5L =+ 5;Q&K Q5=; 5L ?K=V5$&$ ;$ ; 5;QK5;L5 88Y ?LL5V& =;QK=8 LQKQ&2Y +=K 5;Q&K Q5V& LYLQ&9L 5L ?K&L&;Q&$M ?=KQ4958Q=;5; =;QK=88&KL K& UL&$ Q= L3?& Q3& &;&K2&Q5 ?K=?&KQ5&L =+ Q3& K==Q5 5;Q&K4 + & ;$# Q3&K&+=K&# Q=  35&V& Q3& $&L5K&$ 75;$ =+ =;Q Q &3V5=KC  ?=KQ4 958Q=;5; 59?&$; & =;QK=88&K @8L= 88&$ A 5L 5;QK=$U &$ ;$ L=9& ;&W $&V&8=?9&;QL Q3Q 88=W Q= $&8 8L= W5Q3 $&+& Q5V& ;Q3K=?=9=K?35 K==QL ;$ W5Q3 =9?8&X K==Q5 5;Q&K+ &L L K==Q5 3;$L K& 588ULQKQ&$C UKQ3&K9=K&# ; &;&K2&Q5 9=$&8 =+  2&;&K5 3?Q5 5;Q&K+ & 5L ?K&L&;Q&$ ;$ Q3& ?=KQ4958Q=;5; +=K985L9 5L UL&$ +=K U58$5;2 ; 5;QK5;L5 88Y ?LL5V& =;QK=8 L 3&9& +=K 3?Q5 5;Q&K+ &L W35 3 88=WL  LQ8& 5;Q&K Q5=; W5Q3 2&4 ;&K5 # =Q3 85;&K ;$ ;=;85;&K# V5KQU8 &;V5K=;9&;QLC 5;88Y# &X?8=5Q5;2 Q3& ?=KQ4958Q=;5; +=K985L9# L=9& QY?5 8 ?K=8&9L K&8Q&$ Q= 3?Q5 5;Q&K+4 &L L Q3Q =+ $&8Y&$ V5KQU8 &;V5K=;9&;QL ;$ =+ +=K & L 85;2 K& ;8YZ&$ ;$ L=8V&$C ; 3?Q&K 1 58Q&K8 Q&8&9;5?U8Q5=; LYLQ&9L# Q3Q 88=WL Q= 5;Q&K Q W5Q3 K&9=Q& &;V5K=;9&;Q# K& 5;QK=$U &$ ;$ ; &;&K2Y L&$ ;8YL5L 5L ?K=4 V5$&$C =KQ4958Q=;5; +=K985L9 Q=2&Q3&K W5Q3 L QQ&K5;2 Q3&=KY K& UL&$ Q=  35&V& ; 5;QK5;L5 88Y ?LL5V& ?=KQ4958Q=;5; L&$ 58Q&K8 Q&8&9;54 ?U8Q5=; L 3&9& W35 3 &X355QL  LQ8& &3V5=K =Q3 5; L& =+ =;Q Q W5Q3 Q3& K&9=Q& &;V5K=;9&;Q ;$ =+ +K&& 9=Q5=;# 5;$&?&;$&;Q8Y =+ ;Y $&8YC Q 5L L3=W; 3=W Q= &XQ&;$ Q3& L 3&9& 5; =K$&K Q= ?LL5V&8Y $&8 W5Q3 Q3& $5L K&Q& ;QUK& =+ Q3& =;QK=88&KL ;$ W5Q3 VK58& $&8Y ? 7&Q LW5Q 35;2 =99U;54 Q5=; 3;;&8L @&C2C ;Q&K;&QAC 5;88Y#  ?LL5V5QY ?K&L&KV5;2 5;Q&K?=8Q5=; 82=K5Q39 5L 5;QK=$U &$ 5; =K$&K Q= 59?K=V& ?&K+=K9; &L =+ Q3& Q&8&9;5?U4 8Q5=; L 3&9& 5; L& =+ 8=LL =+ ? 7&QL 5; Q3& =99U;5 Q5=;C D$($  ; 3?Q&K / Q3& ?K=8&9 =+ QK;L?K&; Y 5; 58Q&K8 Q&8&9;5?U8Q5=; 5L 588ULQKQ&$C  +K9&W=K7# L&$ =; Q3& &3V5=K8 ??K= 3# +=K Q3& &V8U4 Q5=; =+ QK;L?K&; Y 5L ?K&L&;Q&$ ;$ UL&$ Q= &V8UQ& QK;L?K&; Y =+ ?=KQ4 958Q=;5; L&$ 5;QK5;L5 88Y ?LL5V& 58Q&K8 Q&8&9;5?U8Q5=; L 3&9&LC XQ&;$&$ ?=KQ4958Q=;5; LYLQ&9L K& 5;QK=$U &$ Q= 88=W  ?LL5V5QY ?K&4 L&KV5;2 VK5Q5=; =+ ?3YL5 8 ?K9&Q&KL 3K Q&K5Z5;2 Q3& ?=KQ4958Q=;5; =;QK=88&KL UL&$ Q= =;QK=8 9LQ&K ;$ L8V& K==QLC 3&L& K&LU8QL K& Q3& =UQ4 =9& =+  =88=KQ5=; W5Q3 5 =8 5=85Q5 +K=9 Q3& ;5V&KL5QY =+ =8=2;C  ;=V&8 L 3&9& Q3Q 88=WL Q= 5; K&L& QK;L?K&; Y 5; ?=KQ4958Q=;5; L&$ 58Q&K8 Q&8&9;5?U8Q5=; 5L ?K=?=L&$ UL5;2 Q3& VK58& ?K9&Q&KL C 5;88Y# 5; ??&;$5X # L=9&  72K=U;$ =; Q3& 9Q3&9Q5 8 Q==8L UL&$ 5; Q3& ==7 5L ?K=V5$&$C &225= 9585 @Q8YA# <+=B+0 )+ ;L 3&$& @3& &Q3&K8;$LA# B!02 B</+(+2.+ U2ULQ T[[O =< 0BEJJ+ #"+"+( 1 'C8), 0,).& . 07<(-),<0.). C8<-8 CCCCCCCCC > >C> ;QK=$U Q5=; CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC > >CT 3& &3V5=K8 K$529 +=K =$&85;2 Y;95 8 YLQ&9L C C C T >CTC> ;5V&KL&# &3V5=K ;$ &3V5=K8 EUQ5=;L CCCCCCCCC T >CTCT ;5+&LQ ;$ Q&;Q K58&L CCCCCCCCCCCCCCCCCCCCCC R >CTCR Y;95 8 YLQ&9L CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC 1 >CTC1 ;?UQL ;$ UQ?UQL CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC ' >CR 3YL5 8=$&85;2CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC >[ >C1 9?85 5Q =KQ4958Q=;5; YLQ&9L CCCCCCCCCCCCCCCCCCCCCCCC >1 >C1C>  ==K$5;Q& L&$ &?K&L&;QQ5=; CCCCCCCCCCCCCCCCC >' >C/ &=9&QK5  QQ&K5;2 CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC T/ >CO =; 8UL5=;LCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC R[ > 0.<70, 0 07<(-),<0.). C8<-8 CCCCCCCCCCCCCCCCCCCCCC RR TC> ;QK=$U Q5=; CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC RR TCT L5 =; &?QL =+ LL5V5QY 3&=KY CCCCCCCCCCCCCCCCCCCCCCCC R1 TCTC> &.;5Q5=;L ;$ K=?&KQ5&L CCCCCCCCCCCCCCCCCCCCCCCCCC R1 TCTCT UQ?UQ &&$ 7 Q585ZQ5=; =+ LL5V& YLQ&9L CCCCC R' TCTCR =KQ4958Q=;5; YLQ&9L ;$ LL5V5QY CCCCCCCCCCCCC 1[ TCR ;&K2Y 3?5;2 =+ =KQ4958Q=;5; YLQ&9L CCCCCCCCCCCCCCC 11 TCRC> Q585ZQ5=; Y ;&K2Y 8; 5;2 CCCCCCCCCCCCCCCCCCC 1/ TCRCT 3& =;QK=8 L ;Q&K =;;& Q5=; K$529 C CCCCCCCCCCC /> TCRCR ;&K2Y 3?5;2 L =;QK=8 Y ;Q&K =;;& Q5=; CCCCCCCC // TC1 ;Q&K =;;& Q5=; ;$ 9?5;2 LL52;9&;Q LL5V5QY L&$ =;QK=8 CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC O[ TC/  K58& QKU QUK& ??K= 3 Q= ;&K2Y4L&$ =;QK=8 CCCCC O1 TCO =; 8UL5=;L CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC N1 =  07<(-),<0.). 2270' <0 <' 0.<70, 0 .<7<)0. NN RC> ;QK=$U Q5=; CCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCCC NN RCT ;QK5;L5 88Y LL5V& =;QK=8 =+ ;Q&K Q5=; CCCCCCCCCCCCCCCCCC N' . 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. 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. 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