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Dynamic simulation for 6-strut tensegrity robots
Du WJ(杜汶娟); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); 平井慎一
作者部门机器人学研究室
会议名称IEEE International Conference on Information and Automation (ICIA 2014)
会议日期July 28-30, 2014
会议地点Hailar, China
会议录名称Proceeding of the IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码870-875
收录类别EI ; CPCI(ISTP)
EI收录号20145000304437
WOS记录号WOS:000363815200159
产权排序1
ISBN号978-1-4799-4100-1
关键词Tensegrity Robots Simulations Open Dynamic Engine
摘要Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling process and additional force constraints. Using ODE (Open Dynamic Engine) as a simulation tool can avoid the cumbersome modeling process. However, the robot model would collapse with the growth of DOFs (Degrees of Freedom). This paper solves the stable problem caused by large number of DOFs and builds a simulation environment for 6-strut tensegrity robots. Dynamic simulations for rolling and crawling gaits are performed in the simulation environment.
语种英语
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被引频次:6[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15401
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Ritsumeikan University, Shiga-ken, Japan
推荐引用方式
GB/T 7714
Du WJ,Ma SG,Li B,et al. Dynamic simulation for 6-strut tensegrity robots[C]. Piscataway, NJ, USA:IEEE,2014:870-875.
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