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“This is a compact monograph on underactuated multibody systems. ‘Underactuated’ refers to systems with more degrees of freedom than there are actuators, or controls. … The book is well written with well-prepared figures and excellent editing. … the book is likely to be a very useful reference for those theoreticians, students, and practitioners working in one of the many areas discussed.” (Ronald L. Huston, zbMATH, Vol. 1283, 2014)