Control in robotics: open problems and future directions

This paper focuses on the state-of-the-art of control problems in robotics. Beyond its tutorial value, the work aims at identifying challenging control problems that must be addressed to meet future needs and demands, as well as at indicating preliminary solutions to the identified problems. Various topics are covered starting from the closest issues related to industrial robotics, such as force control, multirobots and dexterous hands, to the most advanced issues related to underactuated and nonholonomic systems, as well as to teleoperation, haptic interfaces and visual servoing