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Philosophical debates have arisen over the present and future use of technology in society, with disagreements over whether technology improves the human condition or worsens it. Neo-Luddism, anarcho-primitivism, and similar movements criticise the pervasiveness of technology in the modern world, opining that it harms the environment and alienates people; proponents of ideologies such as transhumanism and techno-progressivism view continued technological progress as beneficial to society and the human condition. Indeed, until recently, it was believed that the development of technology was restricted only to human beings, but recent scientific studies indicate that other primates and certain dolphin communities have developed. | Lecture Notes in Control and Information Sciences 229 Editor M. Thoma J.-P. Laumond Ed. Robot Motion Planning and Control springer Series Advisory Board A. Bensoussan M.J. Grimble p. Kokotovic H. Kwakernaak J.L. Massey Y.z. Tsypkin Editor Dr J.-P. Laumond Centre National de la Recherche Scientifique Laboratoire d Analyse et d Architecture des Systemes 7 avenue du Colonel Roche 31077 Toulouse Cedex FRANCE ISBN 3-540-76219-1 Springer-Verlag Berlin Heidelberg New York British Library Cataloguing in Publication Data Robot motion planning and control. - Lecture notes in control and information sciences 229 1 .Robots - Motion 2.Robots - Control systems I.Laumond J.-P. 629.8 92 ISBN 35400762191 Library of Congress Cataloging-in-Publication Data Robot motion planning and control. I J. -P. Laumond ed. . p. cm. - - Lecture notes in control and information sciences 229 Includes bibliographical references. ISBN 3-540-76219-1 pbk. alk. paper 1. Robots- -Motion. 2. Robots- -Control systems. I. Laumond J. -P. Ịean-Paul II. Series TJ211.4.R63 1998 97 40560 629.8 92- -dc21 CIP Apart from any fair dealing for the purposes of research or private study or criticism or review as permitted under the Copyright Designs and Patents Act 1988 this publication may only be reproduced stored or transmitted in any form or by any means with the prior permission in writing of the publishers or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. Springer-Verlag London Limited 1998 Printed in Great Britain The use of registered names trademarks etc. in this publication does not imply even in the absence of a specific statement that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation express or implied with regard to the accuracy of the information contained in
