Acrobots Link
This joint is powered (active). By moving this single joint, the robot must generate enough momentum to swing its entire body upward.
This joint is unpowered (passive). It hangs freely from a fixed pivot point, much like a gymnast's hands on a bar. Acrobots
The lessons learned from Acrobots go far beyond the lab. By studying how these machines manage underactuated systems, engineers can improve: This joint is powered (active)
