  We theoretically investigate the quantum dynamics of the center of mass of
trapped atoms, whose internal degrees of freedom are driven in a
$\Lambda$-shaped configuration with the lasers tuned at two-photon resonance.
In the Lamb-Dicke regime, when the motional wave packet is well localized over
the laser wavelenght, transient coherent population trapping occurs, cancelling
transitions at the laser frequency. In this limit the motion can be efficiently
cooled to the ground state of the trapping potential. We derive an equation for
the center-of-mass motion by adiabatically eliminating the internal degrees of
freedom. This treatment provides the theoretical background of the scheme
presented in [G. Morigi {\it et al}, Phys. Rev. Lett. {\bf 85}, 4458 (2000)]
and implemented in [C.F. Roos {\it et al}, Phys. Rev. Lett. {\bf 85}, 5547
(2000)]. We discuss the physical mechanisms determining the dynamics and
identify new parameters regimes, where cooling is efficient. We discuss
implementations of the scheme to cases where the trapping potential is not
harmonic.
