id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
db78tb12r75	Tan Chen	Geometric Control of Underactuated Mechanical Systems with Application Focus on Bipedal Robots	2021		.txt	text/plain	415	15	29	The application examples include bipedal robots, quadruped robots, flexible-link robots, underactuated manipulators, snake robots, acrobatic robots, robots on a mobile platform, spacecraft, unmanned aerial vehicles, surface vessels and underwater vehicles. The systems generally have highly nonlinear dynamics, and less control authority due to the underactuation; furthermore, some systems, such as bipedal robots, include a mixture of continuous and discrete dynamics and multiple switching events among different phases.	cache/db78tb12r75.txt	txt/db78tb12r75.txt