SUMMARYMany different control schemes have been proposed in the technical literature to control the special class of underactuated systems, the- so-called brachiation robots. However, most of these schemes are limited with regard to the method by which the robot executes the brachiation movement. Moreover, many of these control strategies do not take into account the energy of the system as a decision variable. To observe the behavior of the system’s, energy is very important for a better understanding of the robot dynamics while performing the motion. This paper discusses a variety of energy-based strategies to better understand how the system’s energy may influence the type of motion (under-swing or overhand) the robot should perform.

中文翻译：

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臂展机器人调查：基于能量的评论

概述在技术文献中已经提出了许多不同的控制方案来控制特殊类别的欠驱动系统，即所谓的臂式机器人。然而，这些方案中的大多数在机器人执行臂屈伸运动的方法方面受到限制。此外，这些控制策略中的许多都没有将系统的能量作为决策变量考虑在内。为了观察系统的行为，能量对于在执行运动时更好地理解机器人动力学非常重要。本文讨论了各种基于能量的策略，以更好地了解系统的能量如何影响机器人应该执行的运动类型（下摆或上手）。