Robotic design through passive dynamics analysis

In this project, we explored the concept of passive dynamics in robotic systems and the possible applications of passive dynamics in industrial robotics, in particular industrial manipulators. In the initial phase of this project, the definition of passive dynamics was analyzed in the context of robotic systems. Subsequently, the modeling and control of underactuated robots was explored using Hamiltonian formalism, aided by the development of new analysis tools and methods. An experimental platform is developed and used to verify the optimal control solutions as well as the possibility of useful applications in the future.