Control Design and Analysis for Underactuated Robotic Systems

1. Introduction
Xin Xin, Yannian Liu

2. Fundamental Background
Xin Xin, Yannian Liu

3. Directly Driven Acrobot
Xin Xin, Yannian Liu

4. Remotely Driven Acrobot
Xin Xin, Yannian Liu

5. Pendubot
Xin Xin, Yannian Liu

6. Rotational Pendulum
Xin Xin, Yannian Liu

7. Counter-Weighted Acrobot
Xin Xin, Yannian Liu

8. Variable Length Pendulum
Xin Xin, Yannian Liu

9. 2-Link Underactuated Robot with Flexible Elbow Joint
Xin Xin, Yannian Liu

10. 3-Link Planar Robot with Passive First Joint
Xin Xin, Yannian Liu

11.
n-Link Planar Robot with Passive First Joint
Xin Xin, Yannian Liu

12.
n-Link Planar Robot with Single Passive Joint
Xin Xin, Yannian Liu

13. Two Parallel Pendulums on Cart
Xin Xin, Yannian Liu

14. Double Pendulum on Cart
Xin Xin, Yannian Liu

15. 3-Link Planar Robot with Two Passive Joints
Xin Xin, Yannian Liu

16. 2-Link Flying Robot
Xin Xin, Yannian Liu

Keywords: Engineering, Control, Robotics and Automation, Artificial Intelligence (incl. Robotics)