Gyrobot: Control of Multiple Degree of Freedom Underactuated Mechanisms Using a Gyrating Link and Cyclic Braking

A novel control strategy is introduced in which a multiple degree of freedom passive joint mechanism is augmented with a single continuously gyrating link. The gyrating link introduces coupling torques to the remaining joints, and the effect of these torques is controlled by cyclically applying holding brakes mounted on the passive joints. This allows position and trajectory control of the mechanism.