Control and simulation of a tensegrity-based mobile robot
Control and simulation of a tensegrity-based mobile robot
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DOI：
10.1016/j.robot.2008.10.010
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
A. Rovira;J. M. M. Tur-J.-M.-M.-Tur-2468491
中科院分区：
文献类型：
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作者：
A. Rovira;J. M. M. Tur-J.-M.-M.-Tur-2468491
张拉整体结构可以提供一种新的方法来构建具有不同形状和性能的移动的机器人，通常的机器人，轮式或腿式，没有。张拉整体结构是一种轻的、可变形的结构，可以使其形状适应不受约束的环境。本文的主要问题是双重的，第一，推导出适当的和一般的动力学运动方程，以研究这种结构在空间中的运动;第二，通过模拟来证明，张拉整体结构可以执行任何期望的轨迹路径，通过驱动其部分或全部元素。
Tensegrity structures can provide a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is twofold, first, to derive appropriate and general dynamic equations of motion to study the movement of such structures in the space; second to demonstrate, by means of simulation, that a tensegrity structure can execute any desired trajectory path by actuating some or all of its elements.