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题名: Dynamic simulation of six-strut tensegrity robot rolling
作者: Hirai, S.; Imuta, R.
作者部门: 机器人学研究室
会议名称: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期: December 11-14, 2012
会议地点: Guangzhou, China
会议录: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 198-204
收录类别: EI
ISBN号: 978-1-4673-2125-9
摘要: This 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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17685
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Hirai, S.,Imuta, R.. Dynamic simulation of six-strut tensegrity robot rolling[C]. 见:2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012). Guangzhou, China. December 11-14, 2012.
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文件名: Dynamic simulation of six-strut tensegrity robot rolling.pdf
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