TY - GEN
T1 - Tensegrity robot dynamic simulation and kinetic strategy programming
AU - Lin, Changhong
AU - Li, Daiwei
AU - Zhao, Yongjia
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Tensegrity structures are prestressed structures consisting of a set of discontinuous compressed members (struts) and continuous tensile elements (cables). Because of their unique advantages of self-deformation, foldability and light-weighting, tensegrity structures have aroused researcher's intense interest in the field of robotics. In this paper, dynamic simulation for 6-strut tensegrity robot is conducted, and is focused on locomotion control strategy by calculating continuous kinematic workspace in advance. In the simulation, the scenario that the robot rolls on the uneven terrain is designed and results show our strategy is capable of dealing with tough terrain as well as planar ground. We also developed a prototype hardware system based on rope twisting mechanism to prove the validity of our method in this paper.
AB - Tensegrity structures are prestressed structures consisting of a set of discontinuous compressed members (struts) and continuous tensile elements (cables). Because of their unique advantages of self-deformation, foldability and light-weighting, tensegrity structures have aroused researcher's intense interest in the field of robotics. In this paper, dynamic simulation for 6-strut tensegrity robot is conducted, and is focused on locomotion control strategy by calculating continuous kinematic workspace in advance. In the simulation, the scenario that the robot rolls on the uneven terrain is designed and results show our strategy is capable of dealing with tough terrain as well as planar ground. We also developed a prototype hardware system based on rope twisting mechanism to prove the validity of our method in this paper.
UR - https://www.scopus.com/pages/publications/85015218137
U2 - 10.1109/CGNCC.2016.7829167
DO - 10.1109/CGNCC.2016.7829167
M3 - 会议稿件
AN - SCOPUS:85015218137
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 2394
EP - 2398
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -