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Tensegrity structures, which consist of struts and cables, have high strength to mass ratio and high energetic efficiency in deforming its shapes. This structure is sometimes observed in biological systems, which consists of muscles and skeletons, and this structure is adopted to a simplified model of animal body dynamics. From the aspect of engineering, applications of this structure to robotics...
A class of mechanical systems with many unactuated degrees of freedom is studied. An analytical method for computing coefficients of a linear controlled system, solutions of which approximate dynamics of transverse part of coordinates of an underactuated mechanical system along a feasible motion, is proposed. The procedure is constructive and is based on a particular choice of coordinates in a vicinity...
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