Submanifold

The construction of analytic diffeomorphisms for exact robot navigation on star worlds

Elon Rimon, Daniel E. Koditschek

Citations: 143 • 1991

Geometric Controllability and Stabilization of Spherical Robot Dynamics

Vijay Muralidharan, Arun D. Mahindrakar

Citations: 49 • 2015

The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds

Elon Rimon, Daniel E. Koditschek

Citations: 48 • 1991

Discrete Nonholonomic Lagrangian Systems on Lie Groupoids

David Iglesias, Juan Carlos Marrero, David Martı́n de Diego, Eduardo Martı́nez

Citations: 44 • 2007

Generation of natural motions for redundant multi‐joint systems: A differential‐geometric approach based upon the principle of least actions

S. Arimoto, Hiroe Hashiguchi, Masahiro Sekimoto, Ryuta Ozawa

Citations: 38 • 2005

Path following control of planar snake robots using virtual holonomic constraints: theory and experiments

Ehsan Rezapour, Kristin Y. Pettersen, Pål Liljebäck, Jan Tommy Gravdahl, Eleni Kelasidi

Citations: 34 • 2014

The order of local mobility of mechanisms

C. Chen

Citations: 27 • 2011

Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots

John Irvin Alora, Mattia Cenedese, Edward Schmerling, George Haller, Marco Pavone

Citations: 24 • 2023

Logarithmic control, trajectory tracking, and formation for nonholonomic vehicles on Lie group SE(2)

Morteza Tayefi, Zhiyong Geng

Citations: 23 • 2017

Control of stratified systems with robotic applications

John William Goodwine

Citations: 22 • 2008

Nonholonomic Control and Gauge Theory

Richard Montgomery

Citations: 19 • 1993

On the geometry of contact formation cells for systems of polygons

A.O. Farahat, Peter F. Stiller, Jeff Trinkle

Citations: 17 • 1995

Dynamics and Control of Constrained Nonlinear Systems with Application to Robotics

Xiaolin Chen, Mark A. Shayman

Citations: 16 • 1992

Jumping control for compliantly actuated multilegged robots

Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu‐Schäffer

Citations: 12 • 2014

Path following control of planar snake robots using virtual holonomic constraints

Ehsan Rezapour, Kristin Y. Pettersen, Pål Liljebäck, Jan Tommy Gravdahl

Citations: 12 • 2013

A riemannian-geometry approach for dynamics and control of object manipulation under constraints

S. Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara

Citations: 11 • 2009

Task-oriented whole-body planning for humanoids based on hybrid motion generation

Marco Cognetti, Pouya Mohammadi, Giuseppe Oriolo, Marilena Vendittelli

Citations: 10 • 2014

A Natural Resolution of Bernstein’s Degrees-of-Freedom Problem in Case of Multi-Joint Reaching

S. Arimoto

Citations: 9 • 2005

A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints

Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara

Citations: 9 • 2009

Practical Deployment of Spectral Submanifold Reduction for Optimal Control of High-Dimensional Systems

John Irvin Alora, Mattia Cenedese, Edward Schmerling, George Haller, Marco Pavone

Citations: 8 • 2023