Gait production in a tensegrity based robot
Gait production in a tensegrity based robot
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DOI：
10.1109/icar.2005.1507415
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发表时间：
2005-07
期刊：
影响因子：
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通讯作者：
C. Paul;J. Roberts;Hod Lipson;F. Cuevas
中科院分区：
文献类型：
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作者：
C. Paul;J. Roberts;Hod Lipson;F. Cuevas
腿式机器人的运动设计通常是基于一系列的刚性连杆连接的驱动或被动顺应关节。然而，张拉整体的潜在效用，在这种形式下，可以实现使用一组断开的刚性元件连接的连续网络的拉伸元件，没有被考虑在腿式机器人的设计。本文介绍了基于张拉整体结构的腿式机器人的思想，并证明了这种结构的动力学可以用于运动。提出了一种基于三角形张拉整体棱柱的移动的机器人，该机器人通过其横向索的收缩来驱动。自动设计的控制器结构的向前运动进行模拟使用遗传算法，这表明该结构可以产生多个有效的步态模式向前运动。一个真实的世界张拉整体机器人的基础上实现的模拟机器人，这是能够产生向前运动。结果表明，张拉整体结构可以为极轻和坚固的移动的机器人提供基础
The design of legged robots for movement has usually been based on a series of rigid links connected by actuated or passively compliant joints. However, the potential utility of tensegrity, in which form can be achieved using a disconnected set of rigid elements connected by a continuous network of tensile elements, has not been considered in the design of legged robots. This paper introduces the idea of a legged robot based on a tensegrity structure, and demonstrates that the dynamics of such structures can be utilized for locomotion. A mobile robot based on a triangular tensegrity prism is presented, which is actuated by contraction of its transverse cables. The automatic design of a controller architecture for forward locomotion is performed in simulation using a genetic algorithm which demonstrates that the structure can generate multiple effective gait patterns for forward locomotion. A real world tensegrity robot is implemented based on the simulated robot, which is shown to be capable of producing forward locomotion. The results suggest that a tensegrity structure can provide the basis for extremely lightweight and robust mobile robots