Underactuation

Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary… (More)
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Topic mentions per year

Topic mentions per year

1991-2017
010020019912017

Papers overview

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Highly Cited
2014
Highly Cited
2014
This paper introduces the iRobot-Harvard-Yale (iHY) Hand, an underactuated hand driven by 5 actuators that is capable of… (More)
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2011
2011
The paper develops a unified feedback control law for n degree-of-freedom biped robots with one degree of underactuation so as to… (More)
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Highly Cited
2009
Highly Cited
2009
A control approach is proposed for a class of underactuated vehicles in order to stabilize reference trajectories either in… (More)
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Highly Cited
2007
Highly Cited
2007
This paper addresses the problem of dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles… (More)
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Highly Cited
2005
Highly Cited
2005
Motion planning research has been successful in developing planning algorithms which are effective for solving problems with… (More)
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Highly Cited
2004
Highly Cited
2004
Interconnection and damping assignment passivity-based control is a new controller design methodology developed for (asymptotic… (More)
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2004
2004
Numerous robotic tasks associated with underactuation have been studied in the literature. For a large number of these in the… (More)
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2004
2004
We consider in this paper the problem of (asymptotic) stabilization, via position feedback, of mechanical systems with… (More)
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Highly Cited
2001
Highly Cited
2001
In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent… (More)
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Highly Cited
1999
Highly Cited
1999
This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems… (More)
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