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

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A survey on underactuated robotic systems : bio-inspiration, trajectory planning and control. / Liu, Pengcheng; Huda, M Nazmul; Sun, Li; Yu, Hongnian.

In: Mechatronics, Vol. 72, 102443, 01.12.2020.

Research output: Contribution to journalArticlepeer-review

Harvard

Liu, P, Huda, MN, Sun, L & Yu, H 2020, 'A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control', Mechatronics, vol. 72, 102443. https://doi.org/10.1016/j.mechatronics.2020.102443

APA

Liu, P., Huda, M. N., Sun, L., & Yu, H. (2020). A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control. Mechatronics, 72, [102443]. https://doi.org/10.1016/j.mechatronics.2020.102443

Vancouver

Liu P, Huda MN, Sun L, Yu H. A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control. Mechatronics. 2020 Dec 1;72. 102443. https://doi.org/10.1016/j.mechatronics.2020.102443

Author

Liu, Pengcheng ; Huda, M Nazmul ; Sun, Li ; Yu, Hongnian. / A survey on underactuated robotic systems : bio-inspiration, trajectory planning and control. In: Mechatronics. 2020 ; Vol. 72.

Bibtex - Download

@article{b9c2d652d0a54a2fa322e0c1c7288d45,
title = "A survey on underactuated robotic systems: bio-inspiration, trajectory planning and control",
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.",
author = "Pengcheng Liu and Huda, {M Nazmul} and Li Sun and Hongnian Yu",
note = "{\textcopyright} 2020 Elsevier Ltd. This is an author-produced version of the published paper. Uploaded in accordance with the publisher{\textquoteright}s self-archiving policy. ",
year = "2020",
month = dec,
day = "1",
doi = "10.1016/j.mechatronics.2020.102443",
language = "English",
volume = "72",
journal = "Mechatronics",
issn = "0957-4158",
publisher = "Elsevier",

}

RIS (suitable for import to EndNote) - Download

TY - JOUR

T1 - A survey on underactuated robotic systems

T2 - bio-inspiration, trajectory planning and control

AU - Liu, Pengcheng

AU - Huda, M Nazmul

AU - Sun, Li

AU - Yu, Hongnian

N1 - © 2020 Elsevier Ltd. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy.

PY - 2020/12/1

Y1 - 2020/12/1

N2 - 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.

AB - 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.

U2 - 10.1016/j.mechatronics.2020.102443

DO - 10.1016/j.mechatronics.2020.102443

M3 - Article

VL - 72

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

M1 - 102443

ER -