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Abstract: Differential geometry and nonlinear control theory provide essential tools for studying motion generation in robot systems. Two areas where progress is being made are motion planning for mobile robots on the factory floor (or on the surface of Mars), and control of highly articulated robots---such as multifingered robot hands and robot "snakes"--- for medical inspection and manipulation inside the gastrointestinal tract. A common feature of these systems is the role of constraints on the... (Update)
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BibTeX entry: (Update)
@misc{ murray-geometric,
author = "Richard Murray",
title = "Geometric Phases, Control Theory, and Robotics",
url = "citeseer.ist.psu.edu/153065.html" }
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1 IEEE Transactions on Robotics and Automation (context) - Chirikjian, Burdick et al. - 1994
1 Millirobotics for telesurgery - Cohn, Crawford et al. - 1994
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