Port-Based Robotics

Stefano Stramigioli
University of Twente

Abstract

Network theory is at the fundament of circuit analysis and design. This theory has been generalized to multi-domain modeling in different ways among which bond-graphs. Recently new modeling and analysis methods based on the concept of port-Hamiltonian systems have appeared and resulted in novel modeling and control strategies in different domains. In the field of robotics this novel approach has brought to new approaches for modeling and control in different applications like locomotion, tele-manipulation and actuation design. In this talk an introduction of port-based concepts will be given and its power illustrated in a couple of examples.