Design and Control of Modular Spine-Like Tensegrity Structures
Design and Control of Modular Spine-Like Tensegrity Structures
- Neue Suche nach: Mirletz, Brian T.
- Neue Suche nach: Park, In-Won
- Neue Suche nach: Flemons, Thomas E.
- Neue Suche nach: Agogino, Adrian K.
- Neue Suche nach: Quinn, Roger D.
- Neue Suche nach: SunSpiral, Vytas
- Neue Suche nach: Mirletz, Brian T.
- Neue Suche nach: Park, In-Won
- Neue Suche nach: Flemons, Thomas E.
- Neue Suche nach: Agogino, Adrian K.
- Neue Suche nach: Quinn, Roger D.
- Neue Suche nach: SunSpiral, Vytas
We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.
Dokumentinformationen
Design and Control of Modular Spine-Like Tensegrity Structures
World Conference of the International Association for Structural Control and Monitoring (IACSM) ; 2014 ; Barcalona, Spain
2014-07-15
Aufsatz (Konferenz)
Keine Angabe
Englisch
Ähnliche Titel
Modular Tensegrity Structures: The "Tor Vergata" Footbridge
| Tema Archiv | 2012
Shape Control of Tensegrity Structures
| AIAA | 2015
Path Planning and Open-Loop Shape Control of Modular Tensegrity Structures
| Online Contents | 2005
Integrated Design of Controllable Tensegrity Structures
| British Library Online Contents | 1997