Under actuated robotic systems have become an important research topic aiming at significant improvement of the behavioral performance and energy efficiency. Adopting some bio-inspired ideas and properties, the self-organization and main tasks of the robotic systems can be achieved by coordination of the subsystems and dynamic interaction with the environment. Conversely, biological systems achieve energy efficient and adaptive behaviors through extensive autologous and exogenous compliant interactions. The "trick" that give rise to the lifelike movements is appropriate application of the bio-inspired ideas and properties, and construction of control systems in a generally under actuated system.

In this paper, we aim to strengthen the links between two research communities of robotics and control by presenting a systematic survey work in under actuated robotic systems, in which both key challenges and notable successes in bio-inspiration, trajectory planning and control are highlighted and discussed. One particular emphasis of this article lies on the illustration of roles of bio-inspired properties, control algorithms and prior knowledge in achieving these successes and specifically, how they contribute to the taming of the complexity of the linked domains. We demonstrate how bio-inspiration and control methods may be profitably applied, and we also note throughout open questions and the tremendous potential for future research.