Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Motion planning and control problems for underactuated robots
S. Martínez, J. Cortés, F. Bullo
Control Problems in Robotics, eds. A. Bicchi, H. Christensen and
D. Prattichizzo, Springer Tracts in Advanced Robotics Series, vol. 4,
Springer-Verlag, 2003, pp. 59-74
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.
pdf
  |  
ps.gz
Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo