Trajectory Planning on Rolling Locomotion of Spherical Movable Tensegrity Robots with Multi-Gait Patterns
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DOI: 10.1089/soro.2023.0103
Abstract: Spherical movable tensegrity robots, resorting to the intrinsic hallmark of being lightweight and resilient, have exhibited tremendous potential in exploring unpredictable terrains and extreme environments where traditional robots often struggle. The geometry of spherical tensegrities… read more here.
Keywords: movable tensegrity; tensegrity robots; gait; gait patterns ... See more keywords
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