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An intelligent controller for underactuated mechanical systems
CoRR, 2022 References added. This is a slightly expanded version of the work originally presented at DINAME 2017 - 17th International Symposium on Dynamic Problems of Mechanics, 2017, S\~ao Sebasti\~ao ...
Josiane Maria de Macedo Fernandes +3 more
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Dynamics and control of a class of underactuated mechanical systems [PDF]
IEEE Transactions on Automatic Control, 1999 Summary: This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is ...
Mahmut Reyhanoglu +3 more
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A survey of underactuated mechanical systems [PDF]
IET Control Theory & Applications, 2013 An underactuated mechanical system (UMS) is a system which has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research because of its diverse engineering applications.
Liu, Yang, Yu, Hongnian
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Optimal control of underactuated nonholonomic mechanical systems
2006 American Control Conference, 2006 In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the system from an initial to a terminal state. We consider systems evolving on general manifolds.
Islam I. Hussein, Anthony M. Bloch
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Study of an Underactuated Mechanical Finger Driven by Tendons
International Journal of Automation Technology, 2017 This paper presents an investigation on the influence of the design parameters in an underactuated mechanical finger driven by un-extendable tendons. The study was carried out using simulations and experimental tests. The aim of the study is to analyze the behavior of the finger during its closing motion.
Niola, Vincenzo +3 more
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Quasivelocities and Optimal Control for underactuated Mechanical Systems [PDF]
AIP Conference Proceedings, 2010 8 ...
L. Colombo +5 more
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Mechanical assessment of novel compliant mechanisms for underactuated prosthetic hands
Frontiers in Bioengineering and Biotechnology, 2023 This paper proposes novel compliant mechanisms for constructing hand prostheses based on soft robotics. Two models of prosthetic hands are developed in this work. Three mechanical evaluations are performed to determine the suitability of the two designs for carrying out activities of daily living (ADLs).
Orion Ramos +7 more
openaire +4 more sources
Collocated Adaptive Control of Underactuated Mechanical Systems [PDF]
IEEE Transactions on Robotics, 2015 Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and encompasses the well known adaptive control result for fully actuated mechanical systems to the underactuated case.
Daniele Pucci +2 more
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From Rigid to Soft Robotic Approaches for Neuroendoscopy
Advanced Robotics Research, EarlyView.Robotic assistance has had minimal impact on deep intraventricular surgeries, where small‐scale, precision, and reduced invasiveness can contribute to improved patient outcomes. Emerging technologies in rigid, soft, and hybrid robotics are reviewed to identify the most promising mechanisms for deep brain navigation in addition to an attempt to identify
Kieran Gilday +3 more
wiley +1 more source
Hard‐Magnetic Soft Millirobots in Underactuated Systems
Advanced Robotics Research, EarlyView.This review provides a comprehensive overview of hard‐magnetic soft millirobots in underactuated systems. It examines key advances in structural design, physics‐informed modeling, and control strategies, while highlighting the interplay among these domains.
Qiong Wang +4 more
wiley +1 more source