Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

This paper presents the design, analysis, and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robu...

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Veröffentlicht in:	Journal of mechanisms and robotics 2017-04, Vol.9 (2)
Hauptverfasser:	Chen, Lee-Huang, Kim, Kyunam, Tang, Ellande, Li, Kevin, House, Richard, Zhu, Edward Liu, Fountain, Kimberley, Agogino, Alice M, Agogino, Adrian, Sunspiral, Vytas, Jung, Erik
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Architecture Design analysis Design engineering Modular design Robots Tensegrity Tensegrity structures
Online-Zugang:	Volltext
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