tailieunhanh - Springer Tracts in Advanced Robotics Volume 29

Professor Bruno Siciliano, Dipartimento di Informatica e Sistemistica, Universit` degli Studi di Napoli Fedea rico II, Via Claudio 21, 80125 Napoli, Italy, email: siciliano@ Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, email: khatib@ Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ Amsterdam, The Netherlands, email: groen@ 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. | 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 0 Springer Professor Bruno Siciliano Dipartimento di Informatica e Sistemistica Universita degli Studi di Napoli Federico II Via Claudio 21 80125 Napoli Italy email siciliano@ Professor Oussama Khatib Robotics Laboratory Department of Computer Science Stanford University Stanford CA 94305-9010 USA email khatib@ ProfessorFransGroen DepartmentofComputerScience UniversiteitvanAmsterdam Kruislaan403 1098 SJ Amsterdam The Netherlands email groen@ 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-Verlag Berlin Heidelberg 2007 Printed in Germany The use of .