Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

We discuss the modelling framework of port-Hamiltonian descriptor systems and their use in
numerical simulation and control. The structure is ideal for automated network-based …

In this chapter we present a state space interpretation of the small gain and passivity
approach of the previous chapter. Moreover, we will come to some kind of synthesis …

Many nonlinear physical phenomena, including various power systems, can be modeled,
analyzed, and controlled using the framework of port-Hamiltonian systems. Moreover, this …

Since their introduction in the early years of this century, variable stiffness actuators (VSA)
witnessed a sustained growth of interest in the research community, as shown by the …

In this chapter we present an overview of the field of telerobotics with a focus on control
aspects. To acknowledge some of the earliest contributions and motivations the field has …

Although comprehensive knowledge of cyber-physical systems (CPS) is becoming a must
for researchers, practitioners, system designers, policy makers, system managers, and …

In this paper we present a unifying geometric and compositional framework for modeling
complex physical network dynamics as port-Hamiltonian systems on open graphs. The basic …

The design of decentralized controllers co** with the typical constraints on the inter-robot
sensing/communication capabilities represents a promising direction in multi-robot research …

Variable stiffness actuators are a particular class of actuators that is characterized by the
property that the apparent output stiffness can be changed independent of the output …