Title :
Notice of Retraction
A survey on underactuated mechanisms
Author :
He Bin ; Liu Wen Zhen ; Lv Hai Feng
Author_Institution :
Shanghai Key Lab. of Mech. Autom. & Robot., Shanghai Univ., Shanghai, China
Abstract :
Notice of Retraction
After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.
We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.
The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.
Underactuated mechanisms are mechanical systems with fewer control inputs than degrees of freedom. As this mechanism has many advantages such as light weight, low cost and low energy consumption, many researches have been focused on it in recent years with many valuable fruits. This paper is devoted to presenting the systemic review of the underactuated mechanisms in following aspects: principle, kinematics and dynamics, and controllability of underactuated mechanism. Finally, further research direction on underactuated mechanism is also discussed.
Keywords :
controllability; energy consumption; robot dynamics; robot kinematics; controllability; degrees of freedom; dynamics; energy consumption; kinematics; mechanical systems; underactuated mechanisms; Control systems; Controllability; Legged locomotion; Mechanical systems; Mobile robots; Orbital robotics; Parallel robots; Prototypes; Pulleys; Robot kinematics; Controllability; Kinematics and dynamics; Robot; Underactuated mechanisms;
Conference_Titel :
Advanced Computer Control (ICACC), 2010 2nd International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-5845-5
DOI :
10.1109/ICACC.2010.5486858
