Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.
Oscillati on-free point- to-point motions of planar differentially flat under-actua ted robots: a laplace transform method
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Optimal control of differentially flat underactuated planar robots in the perspective of oscillation mitigation
Optimal control applied to flat outputs allows planning motion laws for underactuated robots that minimize potential energy in passive joints, yielding trajectories robust to stiffness and damping mismatches and thus reducing oscillations.