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Kinematic Controllability and Decoupled Trajectory Planning for Underactuated Mechanical Systems

Francesco Bullo, Kevin M. Lynch. Kinematic Controllability and Decoupled Trajectory Planning for Underactuated Mechanical Systems. In Proceedings of the 2001 IEEE International Conference on Robotics and Automation, ICRA 2001, May 21-26, 2001, Seoul, Korea. pages 3300-3307, IEEE, 2001.

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