Modelling, Planning and Control of Underactuated Systems
ABSTRACT
Underactuated robotic and multibody systems are characterized by less independent actuators than the number of degrees of freedom, thus making challenging their precise motion control. Underactuation is usually caused by the presence of passive joints or by flexibility in links or joints, as a consequence of lightweight or cost-driven design. On the other hand, it can arise in the case of actuator or link failures. Due to the challenges and the growing interest in this area, this track is aimed at collecting theoretical, applicative, and experimental studies on the topic, with particular interest to modeling, design approaches, motion planning, methods for inverse dynamics, feedback and feedforward control techniques. Studies on various kinds of underactuated robotic and multibody systems are welcome, including linear and nonlinear systems, non-minimum phase systems, systems with time delay, and other related issues.