Underactuated robotics: A review

Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantages of lightweight, low energy consumption, excellent performance, and broad development prospects. This...

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Published inInternational journal of advanced robotic systems Vol. 16; no. 4; p. 172988141986216
Main Authors He, Bin, Wang, Shuai, Liu, Yongjia
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.07.2019
Sage Publications Ltd
SAGE Publishing
Subjects
Controllability
Energy consumption
Fuzzy systems
Robot control
Robotics
Robots
Stability
State-of-the-art reviews
Underactuated robotics
underactuated control
underactuated mechanisms
underactuated classifications
Online AccessGet full text

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Abstract Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantages of lightweight, low energy consumption, excellent performance, and broad development prospects. This article reviews the state of the art on underactuated robotics. On the basis of previous studies, this article takes the non-holonomic constraint equation as the entry point to classify and summarize underactuated robot and their common mechanisms. The controllability of underactuated robot is further discussed. The control flow of underactuated robot is described based on the open–closed control method. In the closed-loop control, the control method based on the fuzzy system is mainly used. Finally, the difficulties in the current research of underactuated robot are summarized, and the future research directions are prospected.
AbstractList Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantages of lightweight, low energy consumption, excellent performance, and broad development prospects. This article reviews the state of the art on underactuated robotics. On the basis of previous studies, this article takes the non-holonomic constraint equation as the entry point to classify and summarize underactuated robot and their common mechanisms. The controllability of underactuated robot is further discussed. The control flow of underactuated robot is described based on the open–closed control method. In the closed-loop control, the control method based on the fuzzy system is mainly used. Finally, the difficulties in the current research of underactuated robot are summarized, and the future research directions are prospected.
Author Wang, Shuai
Liu, Yongjia
He, Bin
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  givenname: Yongjia
  surname: Liu
  fullname: Liu, Yongjia
  organization: Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
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Issue 4
Keywords Underactuated robotics
underactuated control
underactuated mechanisms
underactuated classifications
Language English
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sage_journals_10_1177_1729881419862164
ProviderPackageCode CITATION
AAYXX
PublicationCentury 2000
PublicationDate 2019-07-01
PublicationDateYYYYMMDD 2019-07-01
PublicationDate_xml – month: 07
  year: 2019
  text: 2019-07-01
  day: 01
PublicationDecade 2010
PublicationPlace London, England
PublicationPlace_xml – name: London, England
– name: London
PublicationTitle International journal of advanced robotic systems
PublicationYear 2019
Publisher SAGE Publications
Sage Publications Ltd
SAGE Publishing
Publisher_xml – name: SAGE Publications
– name: Sage Publications Ltd
– name: SAGE Publishing
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Snippet Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of...
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SubjectTerms Controllability
Energy consumption
Fuzzy systems
Robot control
Robotics
Robots
Stability
State-of-the-art reviews
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Title Underactuated robotics: A review
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