Control strategies for reactive manipulation

For a robot to operate in the real world, which is dynamic, unstructured, and unknowable, it must be able to react and adapt to the ever-changing state of the robot, environment, and goal. This thesis develops novel reactive motion controllers, which, unlike prior approaches, can rapidly, robustly and safely operate in real-world environments. The thesis also provides extensive software and educational materials to encourage the adoption and ongoing development of this new reactive robot motion paradigm