Technology Transfer Project

MANIPTENS: Estudio y diseño de manipulador mecánico sobreactuado basado en estructuras tensigrity

Type

Technology Transfer Contract

Start Date

13/07/2007

End Date

31/03/2010

Project illustration

Staff

Project Description

The objective of this project is to explore the use of tensigrity structures as 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.

For more information see the project web page.

Project Publications

Journal Publications

  • J. M. Mirats Tur and J. Camps. A three-dof actuated robot. IEEE Robotics and Automation Magazine, 18(3): 96-103, 2011.

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  • M. Cefalo and J. M. Mirats Tur. A comprehensive dynamic model for class-1 tensegrity systems based on quaternions. International Journal of Solids and Structures, 48(5): 785-802, 2011.

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  • J. M. Mirats Tur and S. Hernández. Tensegrity frameworks: dynamic analysis review and open problems. Mechanism and Machine Theory, 44(1): 1-18, 2009.

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  • M. Pagitz and J. M. Mirats Tur. Finite element based form-finding algorithm for tensegrity structures. International Journal of Solids and Structures, 46(17): 3235-3240, 2009.

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  • S. Hernández and J. M. Mirats Tur. Tensegrity frameworks: static analysis review. Mechanism and Machine Theory, 43(7): 859-881, 2008.

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Conference Publications

  • S. Hernández and J. M. Mirats Tur. A method to generate stable, collision free configurations for tensegrity based robots, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, Nice, France, pp. 3769-3774, IEEE.

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  • 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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