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Dynamic simulation of six-strut tensegrity robot rolling
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
会议主办者IEEE Robotics and Automation Society
会议录名称Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
出版者IEEE Computer Society
出版地Washington, DC, USA
2012
页码198-204
收录类别EI ; CPCI(ISTP)
EI收录号20131716243806
WOS记录号WOS:000321004000040
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17685
专题机器人学研究室
通讯作者Hirai, S.
作者单位1.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
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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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