About: Underactuation

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Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary trajectories in configuration space. This condition can occur for a number of reasons, the simplest of which is when the system has a lower number of actuators than degrees of freedom. In this case, the system is said to be trivially underactuated. The class of underactuated mechanical systems is very rich and includes such diverse members as automobiles, airplanes, and even animals.

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  • Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary trajectories in configuration space. This condition can occur for a number of reasons, the simplest of which is when the system has a lower number of actuators than degrees of freedom. In this case, the system is said to be trivially underactuated. The class of underactuated mechanical systems is very rich and includes such diverse members as automobiles, airplanes, and even animals. (en)
  • 不完全驅動（Underactuation）是机器人学及控制理论中的術語，是指力學系統無法受控，依位形空间中的任意軌跡行進。會出現此情形的可能原因很多，最簡單的是系統执行器的個數小於其自由度，此情形的系統稱為顯然不完全驅動（trivially underactuated）。 有許多力學系統都是不完全驅動，包括汽车、固定翼飛機，甚至動物也是。 (zh)
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  • Underactuation is a technical term used in robotics and control theory to describe mechanical systems that cannot be commanded to follow arbitrary trajectories in configuration space. This condition can occur for a number of reasons, the simplest of which is when the system has a lower number of actuators than degrees of freedom. In this case, the system is said to be trivially underactuated. The class of underactuated mechanical systems is very rich and includes such diverse members as automobiles, airplanes, and even animals. (en)
  • 不完全驅動（Underactuation）是机器人学及控制理论中的術語，是指力學系統無法受控，依位形空间中的任意軌跡行進。會出現此情形的可能原因很多，最簡單的是系統执行器的個數小於其自由度，此情形的系統稱為顯然不完全驅動（trivially underactuated）。 有許多力學系統都是不完全驅動，包括汽车、固定翼飛機，甚至動物也是。 (zh)
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  • Underactuation (en)
  • 不完全驅動 (zh)
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