Publication
Dynamic equations of motion for a 3-bar tensegrity based mobile robot
Conference Article
Conference
IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Edition
12th
Pages
1334-1339
Doc link
http://dx.doi.org/10.1109/EFTA.2007.4416935
File
Authors
Projects associated
Abstract
Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is to present the dynamic equations of motion for such structures, analysed from a Lagrangian point of view, and thinking in using them as mobile robots of arbitrary form and size.
Categories
control theory, cybernetics.
Author keywords
tensegrity dynamics
Scientific reference
J. M. Mirats Tur, S. Hernández and A. Graells. Dynamic equations of motion for a 3-bar tensegrity based mobile robot, 12th IEEE International Conference on Emerging Technologies and Factory Automation, 2007, Patras, Grècia, pp. 1334-1339, IEEE.
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