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Keywords: underactuated systems
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
Published Online: January 25, 2023
... benchmarks. Finally, to tackle different topologies of actuations, an approach for partitioning the model coordinates into actuated and unactuated ones is proposed, by exploiting the QR-decomposition of the input matrix, which allows for handling a large variety of underactuated systems...