[HTML][HTML] Locking underactuated robots by shrinking their manifolds of free-swinging motion

A Peidró, PD Pérez-Navarro, R Puerto, L Payá… - … and Machine Theory, 2023 - Elsevier
When a robot suffers a Free Swing Joint Failure, it becomes underactuated since some of its
actuated joints become passive. If the joints that remain actuated are locked, the robot can …