PUSHING THE BOUNDARIES OF ACTUATORS-TO-TASK KINEMATIC INVERSION: FROM FULLY ACTUATED TO UNDERACTUATED (SOFT) ROBOTS Article Swipe

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Cosimo Della Santina ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.36227/techrxiv.173738377.73804320/v2

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Kinematics Underactuation Control theory (sociology) Robot Computer science Control engineering Engineering Work (physics) Robot kinematics Boundary (topology) Robotics Control (management) Trajectory Actuator Position (finance) Kinematic chain Control system

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Type: article
Landing Page: https://doi.org/10.36227/techrxiv.173738377.73804320/v2
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DOI: https://doi.org/10.36227/techrxiv.173738377.73804320/v2

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Title: PUSHING THE BOUNDARIES OF ACTUATORS-TO-TASK KINEMATIC INVERSION: FROM FULLY ACTUATED TO UNDERACTUATED (SOFT) ROBOTS

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Type: article

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Publication year: 2025

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Publication date: 2025-12-09

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Authors: Cosimo Della Santina

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Landing page: https://doi.org/10.36227/techrxiv.173738377.73804320/v2

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OA status: gold

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OA URL: https://doi.org/10.36227/techrxiv.173738377.73804320/v2

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Concepts: Kinematics, Underactuation, Control theory (sociology), Robot, Computer science, Control engineering, Engineering, Work (physics), Robot kinematics, Boundary (topology), Robotics, Control (management), Trajectory, Actuator, Position (finance), Kinematic chain, Control system

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