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Dynamic simulation for 6-strut tensegrity robots
Du WJ(杜汶娟); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); 平井慎一
Department机器人学研究室
Conference NameIEEE International Conference on Information and Automation (ICIA 2014)
Conference DateJuly 28-30, 2014
Conference PlaceHailar, China
Source PublicationProceeding of the IEEE International Conference on Information and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2014
Pages870-875
Indexed ByEI ; CPCI(ISTP)
EI Accession number20145000304437
WOS IDWOS:000363815200159
Contribution Rank1
ISBN978-1-4799-4100-1
KeywordTensegrity Robots Simulations Open Dynamic Engine
AbstractTensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling process and additional force constraints. Using ODE (Open Dynamic Engine) as a simulation tool can avoid the cumbersome modeling process. However, the robot model would collapse with the growth of DOFs (Degrees of Freedom). This paper solves the stable problem caused by large number of DOFs and builds a simulation environment for 6-strut tensegrity robots. Dynamic simulations for rolling and crawling gaits are performed in the simulation environment.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/15401
Collection机器人学研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Department of Robotics, Ritsumeikan University, Shiga-ken, Japan
Recommended Citation
GB/T 7714
Du WJ,Ma SG,Li B,et al. Dynamic simulation for 6-strut tensegrity robots[C]. Piscataway, NJ, USA:IEEE,2014:870-875.
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