|Original language||English (US)|
|Title of host publication||Encyclopedia of Systems and Control|
|Editors||John Baillieul, Tariq Samad|
|Number of pages||10|
|State||Published - 2014|
Underactuated robots, robots with fewer actuators than degrees of freedom, are found in many robot applications. This entry classifies underactuated robots according to their dynamics and constraints and provides an overview of controllability, stabilization, and motion planning.