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IEEE Transactions on Robotics and Automation

Volumn 17, Issue 4, 2001, Pages 402-412

Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems

(2) Bullo, Francesco a,b Lynch, Kevin M a,c

a IEEE (United States)

b UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN (United States)

c Northwestern University (United States)

Author keywords

Affine connections; Nonlinear controllability; Trajectory planning; Underactuated manipulation

Indexed keywords

TRAJECTORY PLANNING; UNDERACTUATED MECHANICAL SYSTEMS;

CONTROLLABILITY; KINEMATICS; MANIPULATORS; MECHANICAL CONTROL EQUIPMENT; MOTION PLANNING;

ROBOTICS;

EID: 0035428379 PISSN: 1042296X EISSN: None Source Type: Journal
DOI: 10.1109/70.954753 Document Type: Article

Times cited : (154)

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