underactuate

From under- +‎ actuate.

• Audio (US):

  (file)

underactuate (third-person singular simple present underactuates, present participle underactuating, simple past and past participle underactuated)

1. (robotics) To make less easily actuated or responsive.
   • 2010, Daniel Schütz, Friedrich M. Wahl, Robotic Systems for Handling and Assembly, →ISBN, page 101:

     The basic idea is to temporarily underactuate the robot system by releasing one of the actuators and to use some additional driving force to guide the parallel kinematic structure through the singularity of type 2.

   • 2015, Shaoping Bai, Marco Ceccarelli, Recent Advances in Mechanism Design for Robotics, →ISBN:

     Figure 10 refers to a first design for underactuating the LARM finger mechanism by using a linear spring within the body of phalanx 2, [17].

   • 2018, Vigen Arakelian, Philippe Wenger, ROMANSY 22 – Robot Design, Dynamics and Control, →ISBN:

     A four-bar mechanism (Fig.2) is used to underactuate the fingers so that they can automatically adapt to the shape and size of the object and be less sensitive to positioning errors of the robot relative to the object to grasp.