Control of Underactuated Manipulators

Jundong Wu Dr. Jundong Wu was born in Hunan, China, in 1992. He received the B.S. degree in microelectronics from the School of Electronics Engineering and Computer Science, Peking University, Beijing, China, in 2014, and the M.S. degree in electrical engineering from the School of Engineering and Applied Sciences, Harvard University, Cambridge, the United States, in 2017, and the Ph.D. degree in mechanical engineering from the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Canada, in 2022. In 2022, he joined the School of Automation, China University of Geosciences as a Professor. His current research interests include underactuated robot control, soft robot modeling and control, and nonlinear system control, in which he has over 20 paper publications. He currently owns 3 research projects, funded by the National Natural Science Foundation of China and the China Postdoctoral Science Fund. He was also elected into the Talent Plan of Hubei Province.   Pan Zhang Dr. Pan Zhang received the B.S. and Ph.D. degree in engineering from China University of Geosciences, Wuhan, China, in 2015 and 2020, respectively. From 2017 to 2020, she was a Research Intern with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada. In 2020, she joined the School of Automation, China University of Geosciences, where she is currently an Associate Professor. Her current research interests include underactuated robot control, nonlinear system control and intelligent control.   Qingxin Meng Dr. Qingxin Meng received the B.S. degree in engineering from the Hebei University of Technology, Tianjin, China, in 2016, and the Ph.D. degree in engineering from the China University of Geosciences, Wuhan, China, in 2021. From 2019 to 2021, he was a Research Intern with the Departmentof Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada. In 2022, he joined the School of Automation, China University of Geosciences, where he is currently a Professor. His current research interests include flexible robot control, vibration control and nonlinear system control.   Yawu Wang Dr. Yawu Wang received the B.S. and M.S. degrees in engineering from the Hubei University of Technology, Wuhan, China, in 2011 and 2015, respectively, and the Ph.D. degree in engineering from the China University of Geosciences, Wuhan, China, in 2018. He was a joint doctoral student with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada, from 2017 to 2018. In 2019, he joined the School of Automation, China University of Geosciences, where he is currently a Professor. His current research interests include underactuated robot control, soft robot modeling and control, and intelligent control.

1. Introduction.- 2. Modeling and Characteristics Analysis of Underactuated Manipulators.- 3. Control of Vertical Underactuated Manipulator.- 4. Control of Planar Manipulator with a Passive First Joint.- 5. Control of Planar Underactuated Manipulator with an Active First Joint.