Differentially Flat Design of a Closed-Chain Planar Underactuated $\hbox{2}$ -DOF System

This paper demonstrates that for certain choices of mass distribution and addition of springs, an underactuated two-degree-of-freedom (2-DOF) \bm
PRRRP
system is static feedback linearizable, i.e., differentially flat as well. This paper is original and provides a ground breaking study in underactuated dynamical systems.