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Underactuation
Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary…
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Related topics
Related topics
4 relations
Broader (2)
Control theory
Robot control
Inverted pendulum
Robotics
Papers overview
Semantic Scholar uses AI to extract papers important to this topic.
2019
2019
High-Gain Extended State Observer Based Adaptive Sliding Mode Path Following Control for An Underactuated Vessel Sailing in Restricted Waters
Jianqin Wang
,
Z. Zou
,
Tao Wang
Applied Sciences
2019
Corpus ID: 84178191
This paper studied the path following problem for an underactuated vessel sailing in restricted waters with varying water depths…
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2017
2017
Anthropomorphic Finger Mechanism for Grasping and Pinching with Optimized Parameter Authors
N. Azlan
,
Y. Hiroshi
2017
Corpus ID: 15704098
Problem statement: Underactuated finger mechanism is beneficial in th e anthropomorphic applications in which it reduces the…
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2011
2011
Analysis and optimal design of an underactuated finger mechanism for LARM hand
Shuangji Yao
,
M. Ceccarelli
,
Giuseppe Carbone
,
Q. Zhan
,
Zhen Lu
2011
Corpus ID: 108747642
This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs…
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Review
2011
Review
2011
Grasp planning analysis and strategy modeling for underactuated multi-fingered robot hand using in fruits grasping
Shanjun Li
,
Shuangji Yao
,
Yan-lin Zhang
,
Lu Zhen
2011
Corpus ID: 1518537
To solve the unfixed grasping tasks during the fruits picking and rating, grasping modeling is researched as the most important…
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2009
2009
ON THE SUB-OPTIMAL FEEDBACK CONTROL LAW SYNTHESIS OF UNDERACTUATED SYSTEMS
V. L. Morales
2009
Corpus ID: 31446485
In this paper, a complete solution on the suboptimal feedback control law synthesis for underactuated systems, based on the…
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2008
2008
Robust control using incremental sliding mode for underactuated systems with mismatched uncertainties
Yinxing Hao
,
J. Yi
,
Dongbin Zhao
,
D. Qian
American Control Conference
2008
Corpus ID: 13058036
A new robust controller using sliding mode control method for a class of underactuated mechanical systems with mismatched…
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2007
2007
Grasp force optimization in the design of an underactuated robotic hand
J. Schuurmans
,
R. van der Linde
,
D. Plettenburg
,
F. V. D. van der Helm
International Conference on Rehabilitation…
2007
Corpus ID: 15606492
For people without the ability to use their hands, gripper-equipped robotic aids may provide partial rehabilitation. This article…
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2005
2005
Constructive Energy Shaping Based Impedance Control for a Class of Underactuated Euler-Lagrange Systems
A. Albu-Schäffer
,
C. Ott
,
G. Hirzinger
Proceedings of the IEEE International Conference…
2005
Corpus ID: 5550137
The paper presents an impedance controller for a class of underactuated Euler-Lagrange systems based on energy shaping. For…
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2005
2005
Finite Time Stability and Quasihomogeneous Control Synthesis of Uncertain Switched Systems with Application to Underactuated Manipulators
Y. Orlov
Proceedings of the 44th IEEE Conference on…
2005
Corpus ID: 10536822
Switched control synthesis is developed for underactuated mechanical systems. In order to locally stabilize an underactuated…
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Review
1998
Review
1998
Control of Cooperative Underactuated Manipulators: A Robustness Comparison Study
M. Bergerman
,
Yangsheng Xu
,
Yunhui Liu
1998
Corpus ID: 1487015
In this article we present a comparison study of the robustness properties of three model-based nonlinear controllers for…
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