# Null-Space-Avoidance-Based Orientation Control Framework for Underactuated, Tail-Inspired Robotic Systems in Flight Phase

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 20× · AI/ML

**Wikidata**: [openalex:W2958682097](https://www.wikidata.org/wiki/openalex:W2958682097)  
**Source**: https://4ort.xyz/entity/null-space-avoidance-based-orientation-control-framework-for-underactuated-tail-inspired-robotic-systems-in-flight-phase