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 http://ijr.sagepub.com/ Robotics Research The International Journal of  http://ijr.sagepub.com/content/26/10/1043 The online version of this article can be found at: DOI: 10.1177/027 836490708 2106 2007 26: 1043 The International Journal of Robotics Research Elie A. Shammas, Howie Choset and Alfred A. Rizzi Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems Published by:  http://www.sagepublications.com On behalf of:  Multimedia Archives can be found at: The International Journal of Robotics Research Additional services and information for  http://ijr.sagepub.com/cgi/alerts Email Alerts:   http://ijr.sagepub.com/subscriptions Subscriptions:  http://www.sagepub.com/journalsReprints.nav Reprints:   http://www.sagepub.com/journalsPermissions.nav Permissions:   http://ijr.sagepub.com/content/26/10/1043.refs.html Citations:  What is This? - Sep 25, 2007 Version of Record >> at UNIV OF TEXAS AUSTIN on January 21, 2012 ijr.sagepub.com Downloaded from 

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Page 1: Geometric Motion Planning Analysis for Two Classes of Under Actuated Mechanical Systems

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