Underactuated Manipulator

Underactuated manipulators, robots with fewer actuators than degrees of freedom, are being actively researched for their potential in creating compact and robust designs. Current research focuses on developing effective control strategies, often employing reinforcement learning or distributed control algorithms, to manage the inherent complexities of these systems, including challenges posed by tendon-driven mechanisms and flexible joints. This work aims to improve trajectory tracking and grasping capabilities, addressing limitations in dexterity and load-bearing capacity compared to fully actuated counterparts, with applications ranging from collaborative robotics to minimally invasive surgery.