Control and simulation of a tensegrity-based mobile robot

被引：107

作者：

Graells Rovira, Albert ^{[1
]}

Mirats Tur, Josep M. ^{[1
]}

机构：

[1] Inst Robot & Informat Ind, Barcelona 08028, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2009年 / 57卷 / 05期

关键词：

Tensegrity structures; Mobile robots; DYNAMICS; DESIGN;

D O I：

10.1016/j.robot.2008.10.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Tensegrity structures can provide a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is twofold, first, to derive appropriate and general dynamic equations of motion to study the movement of such structures in the space; second to demonstrate, by means Of simulation, that a tensegrity structure can execute any desired trajectory path by actuating some or all of its elements. (c) 2008 Elsevier B.V. All rights reserved.

引用

页码：526 / 535

页数：10

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