منابع مشابه
Distributed Control for Tensegrity Robots
Exploration of our solar system increasingly involves physical interaction with the environment, requiring innovation in fields such as robotic manipulation (TA 4.2.1.3: New forms of sample handling, digging, grappling, etc) and extreme terrain access (TA 4.2.1.2: New means of accessing the sides of cliffs, craters, and other extreme locations). In both cases, NASA desires lightweight (TA 12.2....
متن کاملDynamics and control of tensegrity systems
This paper introduces rigid body dynamics in a new form, as a matrix differential equation, rather than the traditional vector differential equation. We characterize the dynamics of a broad class of systems of Rigid Bodies in a compact form, requiring no inversion of a mass matrix, yet preserving the second order character of the dynamics (that state space formulations do not preserve). For a s...
متن کاملModelling and Control of Tensegrity Structures
This thesis contains new results with respect to several aspects within tensegrity research. Tensegrity structures are prestressable mechanical truss structures with simple dedicated elements, that is rods in compression and strings in tension. The study of tensegrity structures is a new field of research at the Norwegian University of Science and Technology (NTNU), and our alliance with the st...
متن کاملRobust Distributed Control of Rolling Tensegrity Robot
Tensegrity structures are based on the idea of balanced structures composed of rigid bodies that are connected only by using tension elements. Robots that are constructed using tensegrity principle can offer many advantages such as being lightweight, impact tolerant or offering unique modes of locomotion. Controlling tensegrity robots has many challenges due to their overall complexity and nonl...
متن کاملActive vibration control of a three-stage tensegrity structure
This experimental study demonstrates the efficiency of simple control strategies to damp a 3-stage tensegrity tower structure. The tower is mounted on a moving support which is excited with a limited bandwidth random signal (filtered white noise) by a shaker. Our goal is to minimize the transmissibility between base acceleration and top plate acceleration using piezoelectric displacement actuat...
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ژورنال
عنوان ژورنال: Communications in Information and Systems
سال: 2002
ISSN: 1526-7555,2163-4548
DOI: 10.4310/cis.2002.v2.n3.a6