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1、SpringerTractsinAdvancedRoboticsVolume29Editors:BrunoSiciliano·OussamaKhatib·FransGroenCristianSecchiStefanoStramigioliCesareFantuzziControlofInteractiveRoboticInterfacesAPort-HamiltonianApproachWith86FiguresProfessorBrunoSiciliano,DipartimentodiInformaticaeSistemistica,Universit`adegliStudidiNa
2、poliFede-ricoII,ViaClaudio21,80125Napoli,Italy,email:siciliano@unina.itProfessorOussamaKhatib,RoboticsLaboratory,DepartmentofComputerScience,StanfordUniversity,Stanford,CA94305-9010,USA,email:khatib@cs.stanford.eduProfessorFransGroen,DepartmentofComputerScience,UniversiteitvanAmsterdam,Kruislaan40
3、3,1098SJAmsterdam,TheNetherlands,email:groen@science.uva.nlAuthorsDr.CristianSecchiProf.Dr.StefanoStramigioliProf.Dr.CesareFantuzziUniversiteitTwenteDISMI–UniversityofModenaandReggioEmiliaEL/CEMorselliBuildingPostbus217ViaG.Amendola27500EAEEnschede42100ReggioEmiliaTheNetherlandsItalyS.Stramigioli@
4、ieee.orgsecchi.christian@unimore.itcesare.fantuzzi@unimore.itISSNprintedition:1610-7438ISSNelectronicedition:1610-742XISBN-103-540-49712-9SpringerBerlinHeidelbergNewYorkISBN-13978-3-540-49712-7SpringerBerlinHeidelbergNewYorkLibraryofCongressControlNumber:2006937681Thisworkissubjecttocopyright.Allr
5、ightsarereserved,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmorinotherways,andstorageindatabanks.DuplicationofthispublicationorpartsthereofispermittedonlyundertheprovisionsoftheGermanC
6、opyrightLawofSeptember9,1965,initscurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.ViolationsareliabletoprosecutionunderGermanCopyrightLaw.SpringerisapartofSpringerScience+BusinessMediaspringer.com©Springer-VerlagBerlinHeidelberg2007PrintedinGermanyTheuseofgeneraldescriptivenames
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