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题名: Active shaping of a tensegrity robot via pre-pressure
作者: Hirai, Shinichi ; Koizumi, Yuusuke ; Shibata, Mizuho ; Wang MH(王明辉) ; Li B(李斌)
作者部门: 机器人学研究室
会议名称: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
会议日期: July 9-12, 2013
会议地点: Wollongong, NSW, Australia
会议主办者: IEEE RAS; IEEE IES; ASME; DSC; University of Wollongong
会议录: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
会议录出版者: IEEE Computer Society
会议录出版地: Washington, United States
出版日期: 2013
页码: 19-25
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781467353199
关键词: Pneumatic actuators ; Pneumatic equipment ; Robots
摘要: This paper describes active shaping of a tensegrity robot by pre-pressure applied to pneumatic actuators that drive the robot. The pre-pressure helps to reduce unevenness of deformation properties of pneumatic actuators. We experimentally examined if transitions among contacts can be performed under pre-pressure using our prototype of a six-strut tensegrity robot. Based on the experimental results, we have found that all transitions between two neighboring contacts can be performed by activating one of twelve actuator pairs. © 2013 IEEE.
产权排序: 3
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13900
Appears in Collections:机器人学研究室_会议论文

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