. Appell, Trcite de Mecamque Ra/lOr mclle, Jacques Gabay, 1991.

P. T. Arimoto, H. Nguyen, Y. Ibn, and Z. Doulgen, Dynamics and contr ol of a set of dual fingers with soft tips, Hobo/teG, vol.18, pp.71-80, 2000.

4. R. Armstrong-helouvry, Control of Mcctunes Wlth Friction. Kluwer Academ ic P ublisher Bosto n, 1991.

A. , B. Chi, and A. Mang-o, Rolling contac ts and dextrous manipu lation, Proceedm gs uf the IEEE Internat IOnal Conference OT~ flobohcs and A utomah on, pp.282-287, 2000.

R. L. Bryant, 5. S. Chern, R. Gardner, and H. L. , Goldschmi dt. a nd P.A. Gri ffiths . Ezt erior Dlfferentwl Systems

7. T. Bur-g, . C. Dawson, W. Hah-n, and . Rhodes, Nonlinea r cont rol of an overhead crane via the sa tura t ing control appro ach of Teel, Proceedings of the I n. tern att onl Conf eren ce on. Robotics and Automotron, pag es :ll , ')S';H flO, ICJ 96

8. H. Butl-er, C. Honderd, and J. Vnl-amerongen, Model reference ada ptive control of a. gan try crane sca le model. IEEE Control s.1j.~tem .Haganne, pp.57-63, 1991.

C. C. Cheah, Y. H. Kawamu-ra, and . Han, IUlIl S. Arimoto . G raspi ng and position control of mu lti -fingered robo t hand s wit h uncertain jacobian ma trices, Proc. of the IEEE Int Con]. on Rooonc s and AldomatlOn, pp.2403-2408, 1998.

A. Loj and . Chclouah, Exte nsions of d ifferentia l flat fields and Llouvillian syste ms, P roceed mqs of the IE EE Conferen ce on Dec ~ lon arid Control, pp.268-4273, 1997.

M. Ch-erif and K. K. Gu-pta, Plan ning quasi-statio motions for re-con figurlng object with a mult i-fingered robotic hand, PnJC eedm gs of the {BEE Intern at IOnal Confe ren ce on RobotlCS and Automation, pp.986-995, 1997.

A. A. Cole, J. E. Hauser, and S. S. Sastry, Kinema tics and contro l of rnultjfingered hands with ro lling contact. iEEE Tramachons o n Aut omatic Cont rol Dynamic control of sliding by robot hands for rcgras ping, IEEE Transac tions on RQoohc, vol.345, issue.81, pp.98-442, 1992.

J. R. Collado, Loza no, e nd 1. Fa ntom . Co ntrol of a convey -cran e based on pass ivity, Proceedings of the Amen can Cont rol Conf erence, pp.1260-1264, 2000.

B. D-'a-nd-rea-ne-vel-a-nd and J. Levine, Mode lling a nd nonlinear con t rol of an over head cra ne

1. 1. Fliess, P. H. Levine, . Mar-tin, P. Ouivier, and . Rouchon, Controlling nonlinear syste ms by flatn ess, C.1. Byrn es. editor Sys tem.'! and Con/rol m the Tu'enty -Flrst Cent ury, pp.137-154, 1997.

. J. Flie-ss, . Levine, M. Ph, and P. Houchen, Sur les eystemes non li neairee differentie llemcnt plats, C.R . Acad. SCI . Pans, pp.1-315619

!. \i, . J. Fliess, P. Levine, and . Marti-n, Ro uchon. Lineari sation par bouclege dynarnique ot t ransforma tions de Lie-Backlund, C.!/.. Acad. SCI. Pan s, vol.17, pp.1-3981, 1993.

M. J. Puess, . Levine, . Ph, P. Martin, and . Rouchon, Flatne ss and defect of nonlinear system s; intro d uctory the ory and example s. I ntem a/IOM I JOl, Control, vol.0, issue.6, pp.61-64

M. Fliess, J. Levine, P. Martin, P. Houchon, and . De, 'uXa pp lica tion s dola geometric loca le des diffietes, AnTi. Inst . Henri Pv wcar e, vol.66, issue.3, pp.275-292, 1907.

J. Fliess, P. H. Levine, P. Mart, and . Rouchon, A Lie-Bricklund app roach to equivalence an d fla tn ess of nonlinear systems. fREE 7t ansactwns on Aut omati c Contl-ol, pp.700-715, 1999.

D. Fragopoulos, \. P. Spatho, and . Zheng, A pendulatlon contr ol syste m for offshore lifting opera tions, Proccedmqs 01 the 14tll /FA G Th enmal World Congress, pp.465-470, 1999.

2. B. Goodwine, Control of S tratified S ystems unth Rollotlc Ap pllcatlon.s. P hD thes is. Ca lifornia Inst it ute of Technology, 1998.

D. T. Greenwood, ClasSIcal DynamiCs. Pr ent ice-Hall. Englewood Cliffs, N.J, 1977.

T. Custefsson, O n the desigu a.nd implementa tion of a rotary cran e controller, European Journal of Cont roL, vol.2, issue.3, pp.166-175

S. Hong, J. H. Kim, and K. , Con trol of a container crane: Fast tr aversing, and resid ual s way control from the pers pec tive of contr olling an underect uated system, Proceedvvu of the Amencan Control Conf erence, pp.1294-1298, 1998.

J. B. Kerr, An AllalySlS of Multiji llgf'red lJands, 1984.

2. H. Khalil, Nonlinear Systems. P rentice -Hall. Englewood Cliffs, N.J, 1996.

J. Kiss-an-d and . Levine, On t he cont rol of it red uced scale model of the US Navy cranes, P roceedmos of the IEEE Intern allOnal Conf erence on i ntelligetlt Sy stem s, pp.127-132

1. B. Kiss, . Levine, B. Aud, and . Lantos, Trajector y planni ng for dextrous man ipulat ion with rolling contacts, Proc. of the 38th IEEE Int. Conf. on DeclSIon and Control . pagc, pp.2118-2119, 1999.

3. D. Kiss, B. Levine, and . Lemos, Tra jecto ry pla nning for dextrous mani p ulation with special robo tic hand str uctures, Proceedmgs of the IEE E Intem ah onal Conf erence 071 bltellfgent System s, pp.133-138, 1999.

D. Kiss, J. Levine, and U. Lan-tos, Ob ject reconfiguratio n wit h rolling co nt act s using di fferent ially flat robot ic hand st ruct ures, Proceedm gs of the 6th lntern ah onal Con/e re1lf "t ' on Con trol, AtltomatlOn, Robotics and VtSlO1l. pages on CD-RO M. ISBN981-D4-2, pp.45-51, 2000.

D. I. Kiss, B. Levine, and . Lant-os, On motion plan ning for robot ic man ipula tion with rolling cont acts, Proccedinqs of the 6th Intern atiOnaliFAC Symposwm on Rabot Con trol 1 ~ 2 3 Septem ber, 2000.

B. Kiss, J. Levine, and P. , Mullhuupt. Modelling. flatness and simulat ion of a class of cranes. PeT1 0dlCa Polytechm ca, pp.215-225

D. Kiss, J. Levine, . Ph, and . Mullhaupt, Conr.rol of a reduced size model of US Navy crane using only motor posit ion sensors, Nontm ear Control m the Year, pp.1-12, 2000.

B. Kiss and J. Levine, Mullha upt. Modeling an d mot ion planning for a class of weight han d ling equ ipments, Proceedmgs of th(' 14th Intern at Ional Conferenc e on Systems EngmeenTl9, 2000.

B. J. Kiss and P. Levine, Mullhaup t . A simple outpu t feedback PO controll er for nonlinear cranes, Proceedmgs of the 39th Conference on DeclSlfln and COlltrol.Sydm 'Y, Aust ralia. 12·15 Decembe r, 2000.

/. , G. Lalferriere-an-d, and H. J. Sussmen-n, Motio n planning for cont rolla ble syst ems wit hout dri ft, Proceedm qs oj the IEE E Int ernat IOnal Conf erence on RobotICS and Automat Ion, pp.1148-1153, 1991.

. Lan-tos, Robot Control, Hungar ian Acad emic Pres. .., Budapest, 1991.

B. Lantos, P. L. Klat-smanyi, F. Ludvig, and . Ti-'l-lnt-elhgem, cont rol system of a robot wit h dext rous hand Buda pest, Proceedm gs 0/ the lE ER INR S ',97, pp.129-130, 1997.

. Levine, Are there new indu strial pe rspectives in the conrr ol of mechan ical sys tem s

4. J. Levine, P. Houchen, G. Yuan, C. Grebog-i, B. R. Hunt et al., On the control of US Navy cranes, PT()(('r:dm_q.~ of the European Control Conferenc e, 1997.

. J. Li, S. S. Canoy, and . Sastry, On motion planning for dextro us manipulation, III Proceedmqs of the IEE E Conf erence on Robotics and Alltom atwn, pp.775-780

A. Mang-o-uud and A. Bicchi, Rolling bodies with regular surface: Contro llabi lity theory and uppuc nt ions, IEEE Txonsacuons on Al,tomatle Control, vol.45, issue.9, pp.1586-15991000

M. Ph and P. Rouchon, Feedb ack linear iza tio n end drifttess syste ms. M athem ah cs 0, Control. SIgnals. and Sy stems, vol.7, issue.54, pp.235-237, 1994.

S. C. Martindale, J. Dawson, C. Zhu, and . Ra-hn, Appro xima te nonl inear control for a t.....o degree of freedom overhead crane : T heory and exp erime ntat ion, Proceedmg s oj thf> Am enca n Control Conference, pp.30-31, 1995.

T. Maso-n and J. K. Salisbury, Robot Hands and the Mechanic s of MarnplJIallon . ~lIT PrNiS, p.985

. Monta-na, The Kinematics of Contact and Grasp, The International Journal of Robotics Research, vol.12, issue.3, pp.17-20
DOI : 10.1177/027836498800700302

K. and A. Mousta-fa, Reference tra jector y trac king of overhead cranes Jaum al of Dyna,mc Sys tems, Measu rem ent, pp.39-141, 2001.

R. M. Murray and S. S. Sas, Nonholonomic motion planning: steering using sinusoids, IEEE Transactions on Automatic Control, vol.38, issue.5
DOI : 10.1109/9.277235

URL : http://authors.library.caltech.edu/7315/1/MURieeetac93.pdf

R. , K. , and T. Chori, Singular iti es and mob ility of non holonomic systems: Th e ha ll rollin g on it plan e, Proceedings of lhe 6th !FAC S ym po.ilum on Robot COT/t roI, pp.259-261, 2000.

T. Na-nlwa, S. , A. , and K. , A lear ning control met hod for coordination of multi ple man ipulat ors ho lding a geo metric a. lly const ra ined obj ect. A dvanced Roooh c£, pp.132-151, 1999.

1. Ju and N. A. Netmark, DynamiCs of Nonnotononn c Systems American Ma th emanca l So ciet y. P rovidence. Rhode Islan d , 1972 . [57) R H. Overton . Anti-sway cont rol system for ca ntilever cr anes, p.915, 1996.

Y. Sakawa and H. Seno, Nonlinea r model and linear robust contr ol of overhead t ravelling cra nes. Non lmear A nalYSIS, pp.2-197, 1997.

J. M. Selig, Gwmetnca l Meuiods m Robo /rr. ~. Springe r, 1996.

]. G. Vass, B. Payandeh, and . Lantos, On cont rolled manipu latio n of object s with ln multiple dexterous agents, Prcceedmqs of the 10th Congress on the Theory of Mactun es find M echamsms, 1999.

. Weight-ha-ndling-equ, . Ipment, and . Book, Available on the internet : htt p) /n cc.navfac.navy.mil, HL-I IDBK-lOJ 8, 1998.

~. Whit-taker, A TI--ea/lS e on th e A n alytl cal Dynamw s of Parti cles & R IgId Bodies. Cambr id ge Un iversity Pres s, 1993.

K. Yoshida-a-nd and H. Kawabe, A design of sa tura ting cont rol wit h guaranteed cost and its applieat ion to the crane control system, IEEE Tmnsocuons on AutomatIC Control, vol.37, issue.1, pp.2-3, 1992.

Y. [. and L. Huan-g, Nonlinear feedback contr ol of a gant ry cr am, Proceedings of /he Am en carl Control Conferen ce, p.431, 1995.