Underactuated Robots

Research output: Chapter in Book/Report/Conference proceedingEntry for encyclopedia/dictionary


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.
Original languageEnglish (US)
Title of host publicationEncyclopedia of Systems and Control
EditorsJohn Baillieul, Tariq Samad
Number of pages10
ISBN (Electronic)978-1-4471-5102-9
StatePublished - 2014

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