Underactuated Dynamics

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5 papers in the last four weeks, up 25% on the four weeks before. 0.1% of all new papers.

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  1. Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

    Sep 22, 2026Daniel Feliu-Talegon, Cosimo Della SantinaDeformable Linear ObjectsRobotic Manipulator

    Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands · Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Oberpfaffenhofen, Germany

  2. Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions

    Sep 22, 2026Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1Underwater RobotsControl Barrier Functions

  3. Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator

    Sep 11, 2026Darwin Liu, Tamas Keviczky, Sihao SunUnderactuated DynamicsAerial Manipulation

    Faculty of Mechanical Engineering, Delft University of Technology

  4. Quasi-static analysis of passive stability in a novel underactuated multi-finger hand

    Sep 11, 2026Léonie Plancoulaine (LS2N - équipe RoMas, LS2N), Sylvain Guégan (IRCCyN) +4Robotic HandsUnderactuated Dynamics

  5. Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation

    Sep 9, 2026Kosar Behnia, Ville Kyrki, Gokhan AlcanDeformable Linear ObjectsStatistical Shape Model

    Faculty of Engineering and Natural Sciences, Tampere Univ., Finland. · Electrical Engineering and Automation Department, Aalto Univ., Finland.

  6. Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning

    Aug 28, 2026Nan Wang, Mohit Yadav, Jonathan Wulff +5Robotic HandsMotion Control

    Chestnut Robotics

  7. Real-Time Control-Constrained DDP for Underactuated Balancing of Legged Robots

    Aug 19, 2026SeongWon Nam, Hyunyong Lee, Hansol Kang +5Underactuated DynamicsLegged Robots

    Robotics Innovatory, School of Mechanical Engineering, Sungkyunkwan University (SKKU), South Korea · AIDIN ROBOTICS Inc., Anyang, South Korea

  8. Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection

    Aug 11, 2026Tareq Aziz Alqutami, Yvan Petillot, Matthew W. Dunnigan +1Underactuated DynamicsAerial Manipulation

    Petroliam Nasional Berhad (PETRONAS), Malaysia · School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, UK

  9. Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up

    Aug 10, 2026Nick Karydakis, Konstantinos ChatzilygeroudisUnderactuated DynamicsInverted Pendulum

    Laboratory of Automation and Robotics (LAR) in the Department of Electrical & Computer Engineering, University of Patras, GR-26504 Patras, Greece

  10. Physics-Aware End-to-End Deep Reinforcement Learning for Quadcopter Control with Actuator Dynamics

    Jul 28, 2026Ya-Chia Shen, Woei-Leong ChanQuadrotorUnderactuated Dynamics

    Department of Computer Science and Information Engineering, National Cheng Kung University · Department of Aeronautics and Astronautics, National Cheng Kung University

  11. Differentiable Reinforcement Learning for Path Tracking by an Agile Fish-Like Robot

    Jul 17, 2026Prashanth Chivkula, Kartik Loya, Venkata Ravindhra Reddy Varikuti +1Underactuated DynamicsMotion Planning

    Department of Mechanical Engineering, Clemson University, USA

  12. Reinforcement Learning-Based Control for an Inline Skating Humanoid Robot

    Jun 30, 2026Ethan Marot, Thomas Bi, Clemens Schwarke +3Full-Body Humanoid ControlAgile Locomotion

    Institute for Dynamic Systems and Control, ETH Zurich, Switzerland. · Robotic Systems Lab, ETH Zurich, Switzerland

  13. Reachability Guarantees for Cart-Pole Swing-Up and Stabilization

    Jun 26, 2026Mohamed Khalid M JaffarLyapunov FunctionLinear Quadratic Regulator

    Department of Aerospace Engineering University of Maryland, College Park, USA

  14. Full Nonlinear Nonholonomic Dynamics and Motion Analysis of a 3-DoF Underactuated Spherical Rolling Robot

    Jun 20, 2026Lakshmesha Krishnapa, Ahnaf Sharaar Mazahar, Seyed Amir TafrishiUnderactuated DynamicsWheel

    Geometric Mechanics and Mechatronics in Robotics (gm2R) Lab, School of Engineering, Cardiff University, Cardiff CF24 3AA, United Kingdom

  15. MPC for underactuated spacecraft control with a Lyapunov supervised physics-informed neural network correction layer

    Jun 11, 2026Amirhossein Ayanmanesh Motlaghmofrad, Carlo Cena, Mauro Martini +1Underactuated DynamicsModel Predictive Control

    Politecnico di Torino, Torino (TO), ITA · Argotec S.R.L., San Mauro (TO), ITA

  16. Optimal Control Approach for Non-prehensile Ball Juggling Using a 7-DoF Manipulator

    Jun 4, 2026Joel Ramadani, Vasilije Rakčević, Riddhiman Laha +4Robotic ManipulatorReal-World Manipulation Tasks

    Technical University of Munich · Technical University of Munich, Munich, Germany. · DLR Oberpfaffenhofen +3

  17. Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator

    May 25, 2026Takumi Asada, Takao Oki, Hideo Furuhashi +3Underwater RobotsUnderwater

    Utsunomiya University, 7-1-2 Yoto, Utsunomiya, Tochigi, 321-8585, Japan · Aichi Institute of Technology, 1247 Yachigusa, Yakusa, Toyota, Aichi, Japan

  18. asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics

    Apr 27, 2026Fang Wan, Guangyi Huang, Tianyu Wu +5Scalable Robot LearningUnderactuated Dynamics

    Southern University of Science and Technology · Shenzhen, China · The University of Hong Kong +4

  19. Dynamic Coupling and Indirect Control of Jointed Robots Rolling Atop A Moving Platform

    Apr 23, 2026Hamidreza Moradi, Scott David KellyUnderactuated DynamicsRobotic Manipulator

    Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, Charlotte, NC 28223 USA

  20. A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future

    Apr 22, 2026I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5Legged RobotsAgile Locomotion

    School of Mechanical Engineering, Purdue University, West Lafayette, IN 47906 USA · Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854 USA · Department of Robotics, University of Michigan, Ann Arbor, MI 48109 USA

  21. CycleRL: Sim-to-Real Deep Reinforcement Learning for Robust Autonomous Bicycle Control

    Mar 16, 2026Gelu Liu, Teng Wang, Zhijie Wu +3Autonomous Driving SimulationSim-To-Real Reinforcement Learning

    School of Electronics and Communication Engineering and Shenzhen Key Laboratory of Navigation and Communication Integration, Sun Yat-sen University, Shenzhen 518107, China

  22. Drag-Aware Aerodynamic Manipulability for Torque-Limited Redundant Multirotors: Aerodynamic Promptness based on the Symmetric Acceleration Capacity

    Mar 9, 2026Antonio FranchiBidirectional ThrustUnderactuated Dynamics

    Robotics and Mechatronics, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands · Department of Computer, Control and Management Engineering, Sapienza University of Rome, Rome, Italy

  23. Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots

    Mar 9, 2026Chenrui Zhang, Yiyuan Zhang, Yunfei Ye +3Underwater RobotsUnderactuated Dynamics

    Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore. · Singapore-MIT Alliance for Research and Technology (SMART) Centre, 138602, Singapore.

  24. Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems

    Feb 3, 2026Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5Soft RoboticsUnderactuated Dynamics

    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands +3

  25. FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations

    Date pendingJunxiao Lin, Shuhang Ji, Yuze Wu +3Aerial RobotsAutonomous Drones

    State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, 310027, China