Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewer robot actuators. Underactuated manipulation allows us to build dexterous robots with only a few actuators. In this paper we explore the possibility of useful dynamic manipulation with only a single actuator. Our case study is a ball rolling in an asymmetrical bowl which can be accelerated along...

Underactuated systems, defined as nonlinear mechanical systems with fewer control inputs than degrees of freedom, appear in a broad range of applications including robotics, aerospace, marine and locomotive systems. Studying the complex low-order nonlinear dynamics of appropriate benchmark underactuated systems often enables us to gain insight into the principles of modelling and control of adv...

In this study, we propose a nonlinear model-following control for underactuated systems. A model-following control design is based on the virtual constrains. The concept of virtual constraints control proposed by Shiriaev et. al. The model-following control is useful to realize the tracking system to a given reference model. In underactuated systems, a modelfollowing control for fullactuated sy...

In this article we present a comparison study of the robustness properties of three model-based nonlinear controllers for cooperative underactuated manipulators. Two of the controllers are based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load. The third is based on a gravity compensation sc...

Purpose – Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping object. The purpose of the underactuation is to use less active inputs than the number of degrees of freedom of the gripper mechanism to drive the open and close motion of the gripper. Another purpose of underaction is to reduce the number of c...

To solve the unfixed grasping tasks during the fruits picking and rating, grasping modeling is researched as the most important part of the robot hand solutions. A survey for grasping synthesis method with dexterous robot hand is presented in this paper. The difference of grasping characters is introduced between dexterous hand and underactuated hand. Especially, the feature of self-adaptive en...

This paper investigates the key problem of walking with both fully actuated and underactuated phases. The studied robot is planar, bipedal, and fully actuated in the sense that it has feet with revolute, actuated ankles. The desired walking motion is assumed to consist of three successive phases: a fullyactuated phase where the stance foot is flat on the ground, an underactuated phase where the...

The stabilization problem for a class of nonlinear systems is solved via novel method inspired by back-stepping. method, that we call underactuated back-stepping, introduced solving the an inertia wheel pendulum and it then developed mechanical systems. properties resulting closed-loop are studied in detail case studies given to show effectiveness proposed method.

Task control for underactuated redundant articulated robotic systems is addressed in this paper. In failed ground robots, as well as in aerial or underwater vehicle-manipulator systems, the unactuated degrees of freedom generally affect the task space variables to be controlled, and thus must be properly taken into account in the formulation of the control law. Within a multiple task-priority p...

Two discontinuous solutions for the kinematic position and attitude closed loop control problem of an underactuated floating body are considered. The first is derived on the basis of Lyapunovs stability theory while the second is designed exploiting a novel idea: first a vector field is defined such that an ideal point free to move in any direction would exponentially converge to the desired co...