A new under-actuated resilient robot

This paper presents a new under-actuated resilient robot that has the three recovery processes available, as we proposed elsewhere. The new feature with the proposed resilient robot is such that all the recovery strategies can be accomplished in a 2D plane instead of a 3D space, thus reducing the complexity of the recovery process. The robot also has the ability of switching between a fully-actuated robot and an under-actuated robot with the help of an electromagnetic clutch.