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A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control

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JournalMechatronics
DateAccepted/In press - 20 Sep 2020
DateE-pub ahead of print - 10 Nov 2020
DatePublished (current) - 1 Dec 2020
Volume72
Number of pages17
Early online date10/11/20
Original languageEnglish

Abstract

Underactuated robotic systems have become an important research topic aiming at significant improvement of the behavioural performance and energy efficiency. Adopting some bio-inspired ideas and properties, the self-organisation and main tasks of the robotic systems can be achieved by coordination of the subsystems and dynamic interaction with the environment. Conversely, biological systems achieve energy-efficient and adaptive behaviours through extensive autologous and exogenous compliant interactions. The "trick" that give rise to the lifelike movements is an appropriate application of the bio-inspired ideas and properties, and construction of control systems in a generally underactuated system. In this paper, we aim to strengthen the links between two research communities of robotics and control by presenting a systematic survey work in underactuated robotic systems, in which both key challenges and notable successes in bio-inspiration, trajectory planning and control are highlighted and discussed. One particular emphasis of this article lies on the illustration of roles of bio-inspired properties, control algorithms and prior knowledge in achieving these successes and specifically, how they contribute to the taming of the complexity of the linked domains. We demonstrate how bio-inspiration and control methods may be profitably applied, and we also note throughout open questions and the tremendous potential for future research.

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© 2020 Elsevier Ltd. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy.

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