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Underactuated Robots:

Robots with more degrees of freedom than actuators are underactuated. An Acrobot is one of the canonical underactuated robots used to teach and test control systems. It gets the name "Acrobot" from its resemblance to an acrobat or gymnast swinging on a horizontal bar. 

The bot is a double pendulum with a single servo at the "hip" and no servo at the shoulder. 

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Video Demonstration

Francisco Sebastiano

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