Active shaping of a tensegrity robot via pre-pressure
Active shaping of a tensegrity robot via pre-pressure
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DOI：
10.1109/aim.2013.6584062
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发表时间：
2013-07
期刊：
影响因子：
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通讯作者：
S. Hirai;Yuusuke Koizumi;M. Shibata;Minghui Wang;Bin Li
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文献类型：
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作者：
S. Hirai;Yuusuke Koizumi;M. Shibata;Minghui Wang;Bin Li
本文描述了通过向驱动机器人的气动执行器施加预压力来主动塑造张拉整体机器人。预压力有助于减少气动执行器变形特性的不均匀性。我们通过实验检查了是否可以使用六支柱张拉整体机器人原型在预压力下执行接触之间的转换。根据实验结果，我们发现两个相邻触点之间的所有转换都可以通过激活十二个致动器对之一来执行。
This paper describes active shaping of a tensegrity robot by pre-pressure applied to pneumatic actuators that drive the robot. The pre-pressure helps to reduce unevenness of deformation properties of pneumatic actuators. We experimentally examined if transitions among contacts can be performed under pre-pressure using our prototype of a six-strut tensegrity robot. Based on the experimental results, we have found that all transitions between two neighboring contacts can be performed by activating one of twelve actuator pairs.