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Control Problems in Robotics pp 59–74Cite as

Motion Planning and Control Problems for Underactuated Robots

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 4))

Abstract

Motion 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.

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Author information

Authors and Affiliations

  1. Escuela Universitaria Politécnica, Universidad Politécnica de Cataluña, Av. V. Balaguer s/n, Vilanova i la Geltrú, 08800, Spain

    Sonia Martínez

  2. Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, 1308 W. Main St, Urbana, IL, 61801, USA

    Jorge Cortés & Francesco Bullo

Authors
  1. Sonia Martínez
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  2. Jorge Cortés
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  3. Francesco Bullo
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Editor information

Editors and Affiliations

  1. Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Via Diotisalvi, 2, 56100, Pisa, Italy

    Antonio Bicchi

  2. Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Via Roma, 56, 53100, Siena, Italy

    Domenico Prattichizzo

  3. Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, 10044, Stockholm, Sweden

    Henrik Iskov Christensen

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© 2003 Springer-Verlag Berlin Heidelberg

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Martínez, S., Cortés, J., Bullo, F. (2003). Motion Planning and Control Problems for Underactuated Robots. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_4

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  • DOI: https://doi.org/10.1007/3-540-36224-X_4

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  • Print ISBN: 978-3-540-00251-2

  • Online ISBN: 978-3-540-36224-1

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