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A low-CG configuration realization method for increasing the stability of the TR-6 on a slope
Du WJ(杜文娟); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
作者部门机器人学研究室
会议名称2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期August 2-5, 2015
会议地点Beijing
会议录名称2015 IEEE International Conference on Mechatronics and Automation (ICMA)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1834-1839
收录类别EI ; CPCI(ISTP)
EI收录号20160501860543
WOS记录号WOS:000380447600320
产权排序1
ISBN号978-1-4799-7098-8
关键词Tensegrity Robots Low-cg Configurations Stability Slope
摘要Tensegrity robots are novel deformable robots based on tensegrity structures. The 6-strut tensegrity robots (TR-6) are similar to spheres. This characteristic allows them to generate rolling gaits easily, but leads to the rolling down problem when they are on a slope. In this paper, as lowering the center of gravity is an efficient way to improve the stability of the TR-6 on a slope, a low-CG(center of gravity) configuration is generated by self-deformation. However, self-deformation may lead to unexpected rolling. To lower the position of the center of gravity and avoid rolling, a low-CG configuration realization method is proposed that contains two steps. Firstly, the stability of the undeformed configurations are analyzed and the most stable undeformed configuration is selected as the initial configuration. Secondly, the low-CG configuration is generated based on the most stable undeformed configuration by suitable deformation. Comparisons are taken between the undeformed configurations and the low-CG configurations in ODE simulations, and the results show the stability of the TR-6 is increased by applying the low-CG configurations.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17463
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, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Ritsumeikan University, Shiga-ken, Japan
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GB/T 7714
Du WJ,Ma SG,Li B,et al. A low-CG configuration realization method for increasing the stability of the TR-6 on a slope[C]. Piscataway, NJ, USA:IEEE,2015:1834-1839.
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