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Rolling direction prediction of tensegrity robot on the slope based on FEM and GA
Zhao KK(赵凯凯)1,2,3; Chang J(常健)1,2; Li B(李斌)1,2; Du WJ(杜汶娟)4
Department机器人学研究室
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
ISSN0954-4062
2020
Volume234Issue:19Pages:3846-3858
Indexed BySCI ; EI
EI Accession number20201808586441
WOS IDWOS:000527779000001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of ChinaNational Natural Science Foundation of China [61803365]
KeywordRolling direction predictions tensegrity robot finite element method optimization genetic algorithm
Abstract

Six-strut tensegrity robot is a new mobile robot whose outer surface is an icosahedron containing 8 regular triangles and 12 isosceles triangles, and the robot performs rolling locomotion along the edges of the triangle. On the slope, it has lots of poses depending on the slope's angles and positions of robot, which is difficult to control the rolling directions in the real world. This paper proposed a new method based on finite element method and a genetic algorithm to predict the rolling directions of the robot. The balanced forces equations of robot nodes are established using finite element method, which is a constrained optimization problem. The equations are transformed into an unconstrained optimization problem by the thinking of sequential unconstrained minimization technique. Finally, the unconstrained optimization problem is calculated by genetic algorithm, and the relations between the actuators and the rolling directions are obtained through the dot product of gravitational torque and the edge vector of bottom triangle. This method is verified by simulation and experiment results.

Language英语
WOS SubjectEngineering, Mechanical
WOS KeywordLOCOMOTION ; BEHAVIOR
WOS Research AreaEngineering
Funding ProjectNational Natural Science Foundation of China[61803365]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26745
Collection机器人学研究室
Corresponding AuthorZhao KK(赵凯凯); Chang J(常健)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
2.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Science, Shenyang, China
3.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
4.Institute of Automation, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhao KK,Chang J,Li B,et al. Rolling direction prediction of tensegrity robot on the slope based on FEM and GA[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2020,234(19):3846-3858.
APA Zhao KK,Chang J,Li B,&Du WJ.(2020).Rolling direction prediction of tensegrity robot on the slope based on FEM and GA.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,234(19),3846-3858.
MLA Zhao KK,et al."Rolling direction prediction of tensegrity robot on the slope based on FEM and GA".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 234.19(2020):3846-3858.
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