This work presents a phase space and input transformation that enables a particular class of underactuated Lagrangian systems to be treated as if fully actuated. By utilizing this concept of quasi-full actuation, a passivity-based control scheme named Elastic Structure Preserving (ESP) control is developed for robots with elastic or viscoelastic joints. Through real-life experiments and applications, the proposed controllers demonstrate that compliant robots hold promise as groundbreaking robotic technology.     «

This work presents a phase space and input transformation that enables a particular class of underactuated Lagrangian systems to be treated as if fully actuated. By utilizing this concept of quasi-full actuation, a passivity-based control scheme named Elastic Structure Preserving (ESP) control is developed for robots with elastic or viscoelastic joints. Through real-life experiments and applications, the proposed controllers demonstrate that compliant robots hold promise as groundbreaking roboti...     »