According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.


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    Titel :

    MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS


    Beteiligte:
    CHEN LEE-HUANG (Autor:in) / KHADERI AZHAR (Autor:in) / LIM ALEXANDER Y (Autor:in) / KIM KYUNAM (Autor:in) / MOON DEAHO (Autor:in) / KEEGAN PEADAR (Autor:in) / AGOGINO ALICE M (Autor:in) / AGOGINO ADRIAN (Autor:in)

    Erscheinungsdatum :

    2020-02-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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