Rolling Soft Membrane-Driven Tensegrity Robots
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DOI: 10.1109/lra.2020.3015185
Abstract: We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators and a generalized path planning algorithm for rolling polyhedra. Membrane actuators are planar, assembled… read more here.
Keywords: methodology; driven tensegrity; membrane; membrane driven ... See more keywords
A modal self-excitation method of tensegrity robots
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DOI: 10.1177/09544062211073018
Abstract: A tensegrity robot is a type of soft-rigid system, whose high compliance is prone to induce structural vibrations which traditionally should be avoided. However, a stable limit cycle oscillation at a natural frequency can be… read more here.
Keywords: tensegrity; excitation; tensegrity robots; modal self ... See more keywords
A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments
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DOI: 10.3390/robotics12020056
Abstract: Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tensegrity structures are also recognized for their complexity, which presents a challenge when addressing the kinematics… read more here.
Keywords: tensegrity; research paper; formulation; kinematics ... See more keywords