Report copyright - CS 287: Advanced Robotics Fall 2009 · Page 8 Fully-Actuated vs. Underactuated q¨=f 1(q,q,t˙ )+f 2(q,q,t˙ )ufullyactuatedin(q,q,t˙ )iffrankf 2(q,q,t˙ )=dimq. Hence, for any
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