Underactuated robots (UAR) have been a recent topic of interest [1-6]. Control strategies for UAR apply for example as emergency control in case of actuator failure. In future cost reductions could be a motivation to build robots with fewer actuators than joints for example by replacing actuators with holding brakes. Especially the related reduction of mass could open a new field of applications in space robotics. Beside various applications, control of UAR contributes to understanding of nonlinear and nonholonomic systems.
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