About the book
Before the use of electricity, computers and the Internet, the ancient automatons were incredible automatic machines capable to perform physically useful tasks by using very energy-efficient complex mechanisms. Some of them were geared and hydraulic clocks, steam engines, vehicles, androids, hydraulic machines, geared toys, prosthetic devices, military weapons, sources of water, and so forth. This book focuses on the trend of underactuated robotic systems that combine ancient paradigms with modern technology and new engineering techniques in order to create highly efficient robotic machines that require minimal input resources. This book scope's works on underactuated robotic platforms in all control modalities, such as aerial, terrestrial and aquatic; ranging studies on bioinspired robots, exoskeletons, ornithopters, robotic fish, legged robots, rolling mechanisms and underactuated sensory-motor frameworks. In addition, original design of robotic bio-mechanisms involving hydraulic, pneumatic and soft-robotics underactuation are of interest. This book brings particular attention to mathematical modelling and dynamic linear and nonlinear control schemes, adaptive mobile robot's locomotion, trajectory-tracking, sensing and actuating models, and the observability, controllability and stability properties of underactuated robots.