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Because of the existence of two nonholonomic constraints of two different orders, it is difficult to implement the point-to-point control directly. Therefore the control strategy is divided into three phases: the actuated joints control phase, the unactuated joint control phase (shape phase), and the orientation phase. The first phase can be implemented easily by a linear feedback. A velocity-based averaging method is designed to control the unactuated joint at the shape phase. 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