Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control
نویسندگان
چکیده
منابع مشابه
Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control
This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees-of-freedom in movement and flexible design. However, to t...
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Tensegrity structures, isolated solid rods connected by tensile cables, are of interest in the field of soft robotics due to their flexible and robust nature. This makes them suitable for uneven and unpredictable environments in which traditional robots struggle. The compliant structure also ensures that the robot will not injure humans or delicate equipment in co-robotic applications [1]. A 6-...
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2017
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4036014