Dynamic Modeling and Controlling for the Crawling Motion of the 6-strut Tensegrity Robot | |
Li B(李斌)1![]() | |
Department | 机器人学研究室 |
Conference Name | 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
Conference Date | July 31 - August 4, 2017 |
Conference Place | Hawaii, USA |
Author of Source | IEEE Robotics and Automation Society |
Source Publication | 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
Publisher | IEEE |
Publication Place | New York |
2017 | |
Pages | 1087-1092 |
Indexed By | EI ; CPCI(ISTP) |
EI Accession number | 20183905873639 |
WOS ID | WOS:000447628700197 |
Contribution Rank | 1 |
ISBN | 978-1-5386-0489-2 |
Keyword | Modeling 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 |
Identifier | http://ir.sia.cn/handle/173321/22843 |
Collection | 机器人学研究室 |
Corresponding Author | Li B(李斌) |
Affiliation | 1.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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