中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: Dynamic simulation for 6-strut tensegrity robots
作者: 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: Proceeding of the IEEE International Conference on Information and Automation
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 870-875
收录类别: EI ; CPCI(ISTP)
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.
产权排序: 1
WOS记录号: WOS:000363815200159
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15401
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Dynamic simulation for 6-strut tensegrity robots.pdf(1166KB)会议论文--开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Du WJ(杜汶娟)]'s Articles
[Ma SG(马书根)]'s Articles
[Li B(李斌)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Du WJ(杜汶娟)]‘s Articles
[Ma SG(马书根)]‘s Articles
[Li B(李斌)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Dynamic simulation for 6-strut tensegrity robots.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace