Underactuated robotics: A review

• Published in: International journal of advanced robotic systems Vol. 16; no. 4; p. 172988141986216
• Main Authors: He, Bin, Wang, Shuai, Liu, Yongjia
• Format: Journal Article
• Language: English
• 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

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...