Rolling bodies with regular surface: controllability theory and applications

DOI10.1109/9.880610zbMath0986.70002OpenAlexW2129924563MaRDI QIDQ2730217

Alessia Marigo, Antonio Bicchi

Publication date: 5 August 2001

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.880610

zbMATH Keywords

controllabilitynonholonomic systemrobotic manipulationplanning rolling motionsreachable manifold

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Motion of a rigid body in contact with a solid surface (70E18)

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