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Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control ActionsDella Santina, C. (author), Calzolari, Davide (author), Giordano, Alessandro Massimo (author), Albu-Schaffer, Alin (author)Eigenmanifolds are two-dimensional submanifolds of the state space, which generalize linear eigenspaces to nonlinear mechanical systems. Initializing a robot on an Eigenmanifold (or driving it there by control) yields hyper-efficient and regular oscillatory behaviors, called modal oscillations. This letter investigates the possibility of...journal article 2021