https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Geometric_Phases%2C_Control_Theory%2C_and_Robotics 2026-07-29T07:52:21Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Geometric_Phases,_Control_Theory,_and_Robotics&diff=20059&oldid=prev 2016-05-15T06:20:48Z

<p>htdb2wiki: creating page for 1994f_mur94-nas.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Richard M. Murray<br /> | title = Geometric Phases, Control Theory, and Robotics<br /> | source = Proceedings of the Board on Mathematical Sciences, Science and Technology Symposium, Washington DC, 12 April 1994<br /> | year = 1994<br /> | type = Preprint<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/mur94-nas.pdf<br /> | abstract = <br /> Differential geometry and nonlinear control theory provide essential<br /> tools for studying motion generation in robot systems. Two areas<br /> where progress is being made are motion planning for mobile robots on<br /> the factory floor (or on the surface of Mars), and control of highly<br /> articulated robots---such as multifingered robot hands and robot<br /> ``snakes&#039;&#039;---for medical inspection and manipulation inside the<br /> gastrointestinal tract. A common feature of these systems is the role<br /> of constraints on the behavior of the system. Typically, these<br /> constraints force the instantaneous velocities of the system to lie in<br /> a restricted set of directions, but do not actually restrict the<br /> reachable configurations of the system. A familiar example in which<br /> this geometric structure can be exploited is parallel parking of an<br /> automobile, where periodic motion in the driving speed and steering<br /> angle can be used to achieve a net sideways motion. By studying the<br /> geometric nature of velocity constraints in a more general setting, it<br /> is possible to synthesize gaits for snake-like robots, generate<br /> parking and docking maneuvers for automated vehicles, and study the<br /> effects of rolling contacts on multifingered robot hands. As in<br /> parallel parking, rectification of periodic motions in the control<br /> variables plays a central role in the techniques which are used to<br /> generation motion in this broad class of robot systems.<br /> <br /> | flags = NoRequest<br /> | tag = mur94-nas<br /> | id = 1994f<br /> }}</div>

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