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Robotic manipulators and the geometry of real semialgebraic sets

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2 Author(s)
Tannenbaum, A. ; University of Minnesota, Minneapolis, MN, USA ; Yomdin, Y.

Some modern techniques are applied from real semialgebraic geometry to the robotic manipulator problem. In particular, using the notion of "metric entropy," the complexity of maneuvering the manipulator from state to state is discussed.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 4 )