Motion planning and control problems for underactuated robots

Simple item page
dc.creatorMartinez, Sonia
dc.creatorCortes, Jorge
dc.creatorBullo, Francesco
dc.date2002-09-17
dc.date.accessioned2026-07-07T04:50:57Z
dc.date.available2026-07-07T04:50:57Z
dc.descriptionMotion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent results on kinematic controllability and on oscillatory controls. Furthermore, we discuss theoretical and practical open problems as well as we suggest control theoretical approaches to them.
dc.description16 pages, 5 figures, to appear as a book chapter in the Advanced Robotics Series, Springer-Verlag
dc.identifierhttps://arxiv.org/abs/math/0209213
dc.identifierhttp://arxiv.org/abs/math/0209213
dc.identifierControl Problems in Robotics, A. Bicchi, H. Christensen, D. Prattichizzo eds., STAR series, vol 4, 2003, Springer-Verlag, Berlin-Heidelberg, pages 59-74
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/64975
dc.subjectOptimization and Control
dc.subjectDifferential Geometry
dc.subject53B05; 70Q05; 93B03; 93B05; 93B29
dc.titleMotion planning and control problems for underactuated robots
dc.typetext

Files

Collections

arXiv