A Hamiltonian framework for kinodynamic planning and control

Control based on artificial potentials results in, bounded-torque controllers. The authors extend this notion by devising energy-reference controllers that use harmonic potentials to produce collision-free kinodynamic behavior. In addition, the phase space structure of a manipulator controlled by an artificial potential "copies" the critical point structure of that potential. This result is used in conjunction with harmonic potentials to generate and control convergent and repetitive motions for a manipulator.

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