This joint is powered (active). By moving this single joint, the robot must generate enough momentum to swing its entire body upward.
Underactuated systems are often more energy-efficient because they utilize natural physics (like gravity and inertia) rather than fighting against them with heavy motors. Acrobots
This joint is unpowered (passive). It hangs freely from a fixed pivot point, much like a gymnast's hands on a bar. This joint is powered (active)
This joint is powered (active). By moving this single joint, the robot must generate enough momentum to swing its entire body upward.
Underactuated systems are often more energy-efficient because they utilize natural physics (like gravity and inertia) rather than fighting against them with heavy motors.
This joint is unpowered (passive). It hangs freely from a fixed pivot point, much like a gymnast's hands on a bar.