Design and Simulation of Compliant Tensegrity Robots for Planetary Exploration
نویسندگان
چکیده
The Dynamic Tensegrity Robotics Lab (DTRL) at the NASA Ames Research center is actively researching the design, control, and locomotion of tensegrity robots for planetary exploration. The advantage of using a tensegrity robot emerges from the fact that it behaves as a structured soft robot. This term, structured soft robotic system, comes from the fact that tensegrity systems are traditionally comprised of rigid compression elements connected by a network of compliant tension elements. This network allows for global force distribution and varying amounts of compliance. Figure 1 shows a basic representation of this global distribution on the Spherical Under-actuated Planetary Exploration Robot or SUPERball. Cable 2 is kept constant while the length of cable 1 at the opposite side of the robot is increased linearly [1].
منابع مشابه
Design and control of compliant tensegrity robots through simulation and hardware validation.
To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware comp...
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