Motion control
Related papers: 20
About
Motion control refers to the methods and algorithms used to govern how robots and automated systems move through space, manage forces, and interact with their environment. It encompasses trajectory planning, velocity and force regulation, feedback control, and coordination across joints or multiple agents. In robotics, motion control spans a wide range of applications: guiding robotic arms through precise manipulation tasks using operational space formulations or impedance control, enabling legged and wheeled robots to navigate complex terrain, coordinating multi-robot formations, and facilitating safe physical human-robot interaction through admittance and compliant motion strategies. Techniques range from classical approaches like feedback linearization, adaptive control, and potential field-based obstacle avoidance to modern learning-based methods that allow robots to acquire locomotion skills through experience. Visual servoing integrates perception directly into the control loop, while momentum-based planning supports whole-body humanoid motion. Motion control is foundational to robotics because precise, reliable, and safe movement is a prerequisite for virtually every robotic application—from industrial manufacturing and surgical assistance to space exploration and service robotics.
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Top Cited Papers
A unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib
Citations: 2917 • 1987
Visual servo control. I. Basic approaches
François Chaumette, Seth Hutchinson
Citations: 2431 • 2006
Real-time obstacle avoidance for manipulators and mobile robots
Oussama Khatib
Citations: 1684 • 2005
Zero Phase Error Tracking Algorithm for Digital Control
Masayoshi Tomizuka
Citations: 1470 • 1987
Adaptive motion control of rigid robots: A tutorial
Roméo Ortega, Mark W. Spong
Citations: 1224 • 1989
Learning quadrupedal locomotion over challenging terrain
Citations: 1024 • 2020
Visual servo control. II. Advanced approaches [Tutorial]
François Chaumette, Seth Hutchinson
Citations: 992 • 2007
Analysis of the Accuracy and Robustness of the Leap Motion Controller
Frank Weichert, Daniel Bachmann, Bartholomäus Rudak, Denis Fisseler
Citations: 905 • 2013
Automatic Synthesis of Fine-Motion Strategies for Robots
Tomás Lozano‐Pérez, Matthew T. Mason, Russell H. Taylor
Citations: 896 • 1984
Robot Motion Planning and Control
J.-P. Laumond
Citations: 832 • 1998
WMR control via dynamic feedback linearization: design, implementation, and experimental validation
Giuseppe Oriolo, Alessandro De Luca, Marilena Vendittelli
Citations: 781 • 2002
Controlling formations of multiple mobile robots
Jaydev P. Desai, James Ostrowski, Vijay Kumar
Citations: 687 • 2002
Resolved motion rate control of space manipulators with generalized Jacobian matrix
Yoji Umetani, Kazuya Yoshida
Citations: 606 • 1989
A Human Aware Mobile Robot Motion Planner
Emrah Akin Sisbot, Luis F. Marín-Urías, Rachid Alami, Thierry Siméon
Citations: 484 • 2007
Feedback linearizing control of switched reluctance motors
Marija Ilić-Spong, R. Marino, S. Peresada, David G. Taylor
Citations: 475 • 1987
Resolved momentum control: humanoid motion planning based on the linear and angular momentum
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa
Citations: 463 • 2004
Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control
Tomomichi Sugihara, Yoshihiko Nakamura, H. Inoue
Citations: 460 • 2003
Development of a Biomimetic Robotic Fish and Its Control Algorithm
Junyan Yu, Min Tan, Shuangyi Wang, Eric Chen
Citations: 456 • 2004
Robonaut 2 - The first humanoid robot in space
Myron Diftler, Frank Permenter, Brian Hargrave, Robert W. Platt, Robert T. Savely, R.O. Ambrose, Joshua S. Mehling, Muhammad E. Abdallah, N. A. Radford, Lyndon Bridgwater, Alex Sanders, R.S. Askew, D. M. Linn, John D. Yamokoski
Citations: 451 • 2011
Stable execution of contact tasks using impedance control
Neville Hogan
Citations: 432 • 2005