Controllability of whole-arm manipulation

Whole-arm manipulators systems (WAMs), i.e. robotic devices that use not only their extremities but rather any of their links to manipulate objects, are robust and have a wide range of applicability. The analysis and control of such systems pose problems not common to traditional robotics. In this paper, we consider a peculiar loss of a controllability property that deep affects operation of WAMs.<<ETX>>