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Underactuated Robots

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Encyclopedia of Systems and Control

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Abstract

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.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Department, Northwestern University, Evanston, IL, USA

    Kevin M. Lynch

Authors
  1. Kevin M. Lynch
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Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, Massachusetts, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, Minnesota, USA

    Tariq Samad

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© 2013 Springer-Verlag London

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Lynch, K.M. (2013). Underactuated Robots. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_177-1

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_177-1

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  • Online ISBN: 978-1-4471-5102-9

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