Skip to search formSkip to main contentSkip to account menu

Underactuation

Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary… 
Wikipedia (opens in a new tab)

Related topics

Related topics

4 relations

Broader (2)

Control theoryRobot control
Inverted pendulumRobotics

Papers overview

Semantic Scholar uses AI to extract papers important to this topic.
2016
2016
Output Feedback Control of Underactuated Spacecraft Hovering in Circular Orbit With Radial or In-Track Controller Failure
  • Xu HuangYe Yan
  • IEEE transactions on industrial electronics…
  • 2016
  • Corpus ID: 40071036
This paper proposes the output feedback control schemes for underactuated spacecraft hovering without either the radial or the in… 
Highly Cited
2008
Highly Cited
2008
Dynamics and GA-Based Stable Control for a Class of Underactuated Mechanical Systems
The control of underactuated mechanical system is very complex for the loss of its control inputs. The model of underactuated… 
Highly Cited
2007
Highly Cited
2007
Robust control of underactuated bipeds using sliding modes
SUMMARY The purpose of this paper is to present a robust tracking control algorithm for underactuated biped robots capable of… 
2006
2006
Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism
In this paper we have approached the problem for improving an anthropomorphic finger mechanism for adapting its configuration to… 
Highly Cited
2005
Highly Cited
2005
Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors
This paper proposes a control scheme dedicated to underactuated fingers with the intention of maximizing the capabilities of the… 
2004
2004
Grasp characteristics of an underactuated robot hand
An underactuated robot hand with three fingers has been developed to achieve planar pinch grasp and enveloping grasp. The grasp… 
2001
2001
Kinematic controllability and decoupled trajectory planning for underactuated mechanical systems
  • F. BulloK. Lynch
  • Proceedings ICRA. IEEE International Conference…
  • 2001
  • Corpus ID: 2289503
We introduce the notion of kinematic controllability for second-order underactuated mechanical systems. For systems satisfying… 
Highly Cited
2000
Highly Cited
2000
H/sup /spl infin//-optimal tracking control techniques for nonlinear underactuated systems
Presents techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state… 
Highly Cited
2000
Highly Cited
2000
Nonlinear Time-Invariant Feedback Control of an Underactuated Marine Vehicle Along a Straight Course
Highly Cited
1999
Highly Cited
1999
Stabilization of a nonlinear underactuated hovercraft
We consider the control of a hovercraft, having only two control inputs with three degrees of freedom. The model is obtained from… 
By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy Policy (opens in a new tab), Terms of Service (opens in a new tab), and Dataset License (opens in a new tab)