scientific article; zbMATH DE number 1069608

MaRDI QIDQ4356570zbMATH OpenFDO

Authors Richard M. Murray

Publication date 1 October 1997

zbMATH Keywords

motion planningrolling contactsvelocity constraintsmultifingered robot handscontrol of highly articulated robotsparking and docking maneuversrobot snakes for medical inspection

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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(6)

• Base-controlled mechanical systems and geometric phases
• On geometric control models of a robotic snake
• Motion planning for variable inertia mechanical systems
• Some theory towards a stringent definition of `locomotion'
• Geometric and numerical foundations of movements
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