Inverse Statics Optimization for Compound Tensegrity Robots

Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity modeling approaches cannot natively describe robots wit...

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Veröffentlicht in:	arXiv.org 2020-01
Hauptverfasser:	Sabelhaus, Andrew P, Li, Albert H, Sover, Kimberly A, Madden, Jacob, Barkan, Andrew, Agogino, Adrian K, Agogino, Alice M
Format:	Artikel
Sprache:	eng
Schlagworte:	Formulations Inverse kinematics Kinematics Nonlinear control Nonlinear dynamics Optimization Rigid structures Robot control Robotics Robots Software reviews Static equilibrium Tensegrity structures
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