Planar underactuated mechanical systems have been a popular research issue in the area of mechanical systems and nonlinear control. This paper reviews the current research status of control methods for a class of planar underactuated manipulator (PUM...
Underactuated robotic grippers have the advantage of lower cost, simpler control, and higher safety over the fully actuated grippers. In this study, an underactuated robotic finger is presented. The design issues that should be considered for stable...
Autonomous underwater vehicles (AUVs) commonly use screw propellers to move in a water environment. However, compared to the propeller-driven AUV, bio-inspired AUVs feature a higher energy efficiency, longer lifespan (due to a lack of cavitation), an...
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intell...
Wall attachment has great potential in a broad range of applications such as robotic grasping, transfer printing, and asteroid sampling. Herein, a new type of underactuated bionic microspines gripper is proposed to attach to an irregular, rough wall....
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few...
The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully act...
Due to the singularity of Euler angles and the ambiguity of quaternions, to further expand the attitude reachable range of underactuated AUVs in the vertical plane,
Intelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, the actuated robot degenerates to an underactuated robot, and the traditional control method is not suitable for the underactuat...
Mature broccoli has large flower balls and thick stems. Therefore, manual broccoli picking is laborious and energy-consuming. However, the big spheroid vegetable-picking manipulator has a complex structure and poor enveloping effect and easily causes...
Differential flat underactuated robots have fewer actuators than degrees of freedom (DOFs). This characteristic makes it possible to design light and cost-effective robots with great dexterity. The primary challenge associated with these robots lies...
Underactuated robotic systems are appealing for industrial use due to their reduced actuator number, which lowers energy consumption and system complexity. Underactuated systems are, however, often affected by residual vibrations. This paper addresse...
Planar underactuated robots are mainly applied in the microgravity field, such as deep sea and deep space. The system modeling and stability control of planar underactuated robots are prerequisites to ensure successful task completion. The planar pri...
Automated fiber placement (AFP) systems accommodate complex-shaped structures by pressing fibers against the non-planar surfaces of mandrels, in which compaction mechanisms are of crucial significance. A conventional compaction mechanism utilizes an...
In the design of humanoid robotic hands, it is important to evaluate the grasp stability, especially when the concept of underactuation is involved. The use of a number of degrees of actuation lower than the degrees of freedom has shown some advantag...
In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe mo...
This paper proposes a dynamic event-triggered adaptive backstepping control for underactuated autonomous underwater vehicle systems (AUVs) with input saturation. The proposed method ensures the system’s stability by introducing a new auxiliary...
The stabilisation capabilities of unmanned aerial vehicles (UAVs) with bicopter underactuated swashplateless rotors are highly sensitive to motor-induced vibration. Due to the requirement of the active control of underactuated swashplateless rotors,...
As the working tool of the robot, the importance of the gripper becomes more prominent with the extensive use of the robot. This paper proposes a new type of underactuated universal gripper that can be applied to handle lightweight parts of any shape...
In this paper, we propose a general control method via the intelligent algorithm for a planar R-type underactuated robot. This control method solves the unified control problem of R-type underactuated manipulator. Meanwhile, the proposed method is al...
Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that mak...
Most existing lower-limb rehabilitation robots (LLRR) for stroke and postoperative rehabilitation are bulky and prone to misalignments between robot and human joints. These drawbacks hamper LLRR application, leading to poor arthro-kinematic compatibi...
Underactuated systems, such as rotary and double inverted pendulums, challenge traditional control due to nonlinear dynamics and limited actuation. Classical methods like state-feedback and Linear Quadratic Regulators (LQRs) are commonly used but oft...
A switching neural network control scheme, consisting of the adaptive neural network controller and sliding mode controller, is proposed for underactuated formation reconfiguration in elliptic orbits with the loss of either the radial or in-track thr...
Underactuated systems, such as the Cart–Pole and Acrobot, pose significant control challenges due to their inherent nonlinearity and limited actuation. Traditional control methods often struggle to achieve stable and optimal performance in thes...
Ship transportation plays an increasingly important role in and accounts for a large proportion of cargo transport. Therefore, it is necessary to improve the quality of the trajectory control system of the ship for improving the transport efficiency...
The control of an aerial flexible joint robot (FJR) manipulator system with underactuation is a difficult task due to unavoidable factors, including, coupling, underactuation, nonlinearities, unmodeled uncertainties, and unpredictable external distur...
An underactuated unmanned surface vessel (USV) is a nonholonomic system, in which trajectory tracking is a challenging problem that has drawn more and more attention from researchers recently. The control of trajectory tracking is of critical importa...
Model predictive control (MPC), an extensively developed rolling optimization control method, is widely utilized in the industrial field. While some researchers have incorporated predictive control into underactuated unmanned surface vehicles (USVs),...
To address the challenge of low trajectory tracking accuracy for underactuated unmanned underwater vehicles (UUVs) under external disturbances, this study proposes a method integrating backstepping control with improved active disturbance rejection c...
This paper delves into the potential of an optimized differential system within an underactuated tendon-driven soft robotic gripper, a crucial component that enhances the grasping abilities by allowing fingers to secure objects adapting to different...
This paper focuses on the autonomous recovery maneuvers of an unknown underactuated practical catamaran, which returns to its initial position corresponding to the man overboard (MOB) by simply adjusting the rate of turn. This paper investigates the...
To address the sideslip phenomenon caused by the lack of lateral constraints in path following of underactuated hovercraft, this paper proposes a path following control algorithm. The algorithm adopts a method of controlling two control points on the...
This work addresses the automatic berthing control problem of underactuated ships under false data injection (FDI) attack, and an event-sampled automatic berthing control scheme is proposed. To avoid the FDI attack signals from entering the closed-lo...
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and e...
To improve the adaptive clamping performance of traditional single-tendon-driven underactuated grippers for grasping multiple categories of objects, a novel dual-tendon-driven underactuated gripper is proposed in this paper. First, two independent te...
Since the quadrotor unmanned aerial vehicle (UAV) is one of the systems that has four (4) control inputs and six (6) degree of freedom (DOF) which makes it as an underactuated system. Such underactuated mechatronic systems are very difficult to stabi...
In this paper, a finite-time three-axis stabilization controller for an underactuated rigid spacecraft is proposed based on well-designed hierarchical terminal sliding mode surfaces to handle the insufficiency of control effort and disturbances. Firs...
Smart surfaces are becoming more and more popular in the field of intralogistics, as they combine great flexibility with easy reprogrammability. Pursuing this trend, the following article proposes a modular surface to perform handling tasks, such as...
While networked multi-agent systems have been widely explored, the challenges introduced by underactuation still impede safety-critical cooperative control of multiple underactuated manipulators. This paper introduces a distributed framework for end-...
This paper addresses the three-dimensional trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) operating in the presence of external disturbances and unmodeled dynamics by proposing a predefined-time adaptive control sc...
A resilient robot can recover its original function after partial damage of the system. This paper develops an underactuated resilient robot that utilizes a combination of passive joints, active joints, adjustable links, and passive links. A novel me...
This paper is devoted to the consensus control of a networked system constituted by multiple underactuated marine surface vessels (MSVs) with input saturation. Compared with the related works on this topic, two remarkable features are involved in the...
A control method that combines trajectory planning and backstepping is proposed for the antisway problem of underactuated overhead cranes under wind disturbance. First, a set of flat outputs is proposed so that the crane system dynamics can be repres...
This paper is concerned with the consensus of a system involving multiple underactuated autonomous underwater vehicles (AUVs). Combined with a dynamic event-triggered mechanism and a fixed-time stability theorem, the backstepping average consensus co...
This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. Fir...
This paper studies the trajectory tracking issue for an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The desired velocity–tracking error relationship (DVTER) is constructed according to the kinematics and kinetic e...
In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, exter...
Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach. Previou...
Designing a mechanical gripper, achieving the combined capabilities of high loading capacity, flexible environmental adaptability, and dexterous kinematic performance, is highly desired in human–machine interaction and industrial production eff...
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