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A low-CG configuration realization method for increasing the stability of the TR-6 on a slope
Du WJ(杜汶娟); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
Department机器人学研究室
Conference Name2015 IEEE International Conference on Mechatronics and Automation (ICMA)
Conference DateAugust 2-5, 2015
Conference PlaceBeijing
Source Publication2015 IEEE International Conference on Mechatronics and Automation (ICMA)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages1834-1839
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160501860543
WOS IDWOS:000380447600320
Contribution Rank1
ISBN978-1-4799-7098-8
KeywordTensegrity Robots Low-cg Configurations Stability Slope
AbstractTensegrity 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17463
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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