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Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot
Li B(李斌)1; Du WJ(杜汶娟)1,2; Liu WY(刘文元)1,3
Department机器人学研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages1087-1092
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873639
WOS IDWOS:000447628700197
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordModeling Controlling Crawling Gait 6-strut Tensegrity Robot
Abstract

The 6-strut tensegrity robot (TR-6) is a novel deformable mobile robot, and it can generate different gaits by self-deformation to adapt to various terrains. As the shape of the TR-6 is similar to a sphere, unexpected falling often occur when the robot is climbing a slope with rolling gait. By self-deformation, the TR-6 can generate crawling gait and move forward steady. As the topology of the TR-6 is complicated, the components of the structure are highly coupled, and the TR-6 is a multi-input system, there is no existed method for solving the control problem of the crawling gait for TR-6. This paper presents a control method for the crawling gait of TR-6 based on the genetic algorithm (GA). Firstly, a dynamic model of the TR-6 is built by the Newton-Euler method. Secondly, based on the TR-6 dynamic model, an optimal initial configuration and the range of the control parameters for avoiding the unexpected rolling during crawling motion are determined. Lastly, by converting the multi-input control problem to an optimization problem and solving the optimization problem by GA, a group of control parameters are chosen to control the TR-6 crawl forward steady and fast. The control method is realized by C++ code, and a group of control parameters are given by the numerical simulation. The experiments verifies the result of simulation.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22843
Collection机器人学研究室
Corresponding AuthorLi B(李斌)
Affiliation1.State Key Laboratory of Robotics, Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.College of Information Science and Engineering, Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Li B,Du WJ,Liu WY. Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:1087-1092.
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