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Dynamic simulation of six-strut tensegrity robot rolling
Hirai, S.; Imuta, R.
Conference Name2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
Conference DateDecember 11-14, 2012
Conference PlaceGuangzhou, China
Author of SourceIEEE Robotics and Automation Society
Source PublicationProceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE Computer Society
Publication PlaceWashington, DC, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20131716243806
WOS IDWOS:000321004000040
Contribution Rank1
AbstractThis paper describes dynamic simulation of rolling locomotion of a tensegrity robot. Tensegrity is a mechanical structure consisting of a set of rigid elements connected by elastic tensional elements. We have succeeded to build a robot with tensegrity structure that can roll over a flat ground and experimentally investigated how to drive the tensegrity robot. But, experimental investigation requires much time since a tensegrity robot has a large number of actuators. Thus, we will build a dynamic simulation of tensegrity robot rolling to evaluate the rolling performance via simulation. First, we show the prototype of a six-strut tensegrity robot, which is driven by twenty-four pneumatic McKibben actuators. Topology and geometry of the tensegrity robot are then described. Second, we will formulate dynamic motion of each strut using quaternion. Contact between a strut and the ground is formulated by constraint stabilization method. Finally, we show simulation results, which are compared with experimental results.
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Document Type会议论文
Corresponding AuthorHirai, S.
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Science, China
2.Department of Robotics, Ritsumeikan University, Japan
3.Graduate School of Science Engineering, Department of Robotics, Ritsumeikan University, Japan
Recommended Citation
GB/T 7714
Hirai, S.,Imuta, R.. Dynamic simulation of six-strut tensegrity robot rolling[C]//IEEE Robotics and Automation Society. Washington, DC, USA:IEEE Computer Society,2012:198-204.
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