Understanding controllability properties for mechanical systems has progressed to the point that now this understanding can be put to use to design simple, effective motion control algorithms. In this talk, the bridge between my own work on controllability and the work of Bullo and Lynch on motion planning will be provided. Simple, but nontrivial, examples provide an illustration of just how far the theory has progressed.

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Last Updated: Tue Jun 18 09:12:16 2024