Motion planning and control problems for underactuated robots

Details Motion planning and control problems for underactuated robots Motion planning and control problems for underactuated robots

2002-09-17

arxiv.org/abs/math/0209213v1

Control Problems in Robotics, A. Bicchi, H. Christensen, D. Prattichizzo eds., STAR series, vol 4, 2003, Springer-Verlag, Be

Mathematics

Optimization and Control

16 pages, 5 figures, to appear as a book chapter in the Advanced Robotics Series, Springer-Verlag

Scientific paper

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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