{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:55:44Z","timestamp":1777715744644,"version":"3.51.4"},"reference-count":39,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2000,3,1]],"date-time":"2000-03-01T00:00:00Z","timestamp":951868800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2000,3]]},"abstract":"<jats:p>This paper presents a configuration manifold embedding model that provides a new approach to dynamic model reduction and adaptive control of redundant robotic systems. The proposed model is developed based on a geometrical and topological analysis of configuration manifolds (C-manifolds) hidden behind every robotic dynamic system that commonly obeys the Lagrange equation. With a detailed study of the C-manifold immersion and embedding into Euclidean space, we show that for a redundant robotic system, a subtask decision by choosing a certain null solution is technically equivalent to the C-manifold embedization. A direct adaptive control strategy is then developed based on the C-manifold embedding model for a specific application to model reduction and control of redundant robotic systems with both main tasks and subtasks represented in Cartesian space. It is also demonstrated that making only a kinematics model for a redundant robot can do the dynamic control job. Finally, a computer simulation study shows the effectiveness of this adaptive control algorithm.<\/jats:p>","DOI":"10.1177\/02783640022066879","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"289-304","source":"Crossref","is-referenced-by-count":10,"title":["A Configuration Manifold Embedding Model for Dynamic Control of Redundant Robots"],"prefix":"10.1177","volume":"19","author":[{"given":"Edward Y. L.","family":"Gu","sequence":"first","affiliation":[{"name":"Department of Electrical and Systems Engineering, Oakland University,                         Rochester, MI 48309-4478, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,3,1]]},"reference":[{"key":"atypb1","unstructured":"Abraham, R., and Marsden, J. E. 1978. Foundations of Mechanics. 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