Control and simulation of a tensegrity-based mobile robot

Rovira, Albert Graells; Tur, Josep M. Mirats

doi:10.1016/j.robot.2008.10.010

Cited by 113 publications

(23 citation statements)

References 13 publications

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“…Because of the challenge in building and controlling phys-ical tensegrity robots, the majority of tensegrity robot research has occurred in simulation rather than reality (Aldrich et al, 2003;Paul et al, 2006;Graells Rovira and Mirats Tur, 2009;Iscen et al, 2013 The case for physical evolution…”

Section: Tensegrity Robotsmentioning

confidence: 99%

Evolution of Locomotion on a Physical Tensegrity Robot

Khazanov¹,

Jocque²,

Rieffel³

2014

Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems

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Due to their high strength-to-weight ratio, robustness and deformability, tensegrity structures are an appealing platform for the emerging field of soft robotics, with applications ranging from search-and-rescue to field-deployable structures. Unfortunately, these properties also make tensegrities challenging to control through conventional means. In this paper we describe a novel means of vibration-based tensegrity actuation which allows for the manual control of a physical tensegrity robot in the plane as well as state-machine based target following. We demonstrate the evolution of effective gaits using only physical evaluations of the robot, and further demonstrate how a combination of the state-machine with the hill climber allows for the hands-off automation of the evolutionary process. We conclude with a description of how this can lead to a bootstrapping effect, with the potential to significantly accelerate and automate the physical evolution of our tensegrity robot.

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Section: Tensegrity Robotsmentioning

confidence: 99%

Evolution of Locomotion on a Physical Tensegrity Robot

Khazanov¹,

Jocque²,

Rieffel³

2014

Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems

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“…In general Lagrangian is defined as the difference between kinetic energy and potential energy, where L = T − U . For generalized coordinates where i = 1, 2, · · · , n, the Euler-Lagrange equation of motion is showed as follows: [6]- [7] d dt…”

Section: A Dynamics Using Euler-lagrange Equationmentioning

confidence: 99%

Iterative learning control for trajectory tracking of tensegrity robot

Han

Jeong

Ahn

2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

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Currently in robotics field, various new forms of robots are emerged that are different from existing robots. One of them is the mobile robot having a tensegrity structure. In this paper, the tensegrity is employed for a design of a mobile robot that can be used in irregular environment. But the tensegrity structure is highly nonlinear; so it is very difficult to control. In order to deal with this problem, iterative learning control (ILC) is applied in the tensegrity system. ILC is commonly used for nonlinear processes and shows a relatively good performance. This paper uses ILC for controlling the tensegrity system.

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“…In a tensegrity structure with actuators capable of changing the length of some of its elements, the relations between input (in our case the length of the bars) and output variables (the centre of mass of the upper platform) will, in general, depend on internal forces (tension in the springs) as well as external ones. The dynamic model of the system under study is left for future works, by now the interested reader could check our ongoing work in this field in [14] or [4].…”

Section: Static and Kinematic Analysismentioning

confidence: 99%

A Three-DoF Actuated Robot

Mirats-Tur¹,

Camps

2011

IEEE Robot. Automat. Mag.

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Abstract-This paper presents a realization of a tensegrity based robot composed of a 3-bar symmetric prism-like minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed robot. After a detailed implementation description of the physical robot, some trajectories within its workspace are analyzed. While our long term objective is provide to the community mobile tensegrity based robots, this work studies a case in which the robot is anchored to the ground. This provides us a first insight of how these structures should be actuated and sensed in order to produce movement.

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Control and simulation of a tensegrity-based mobile robot

Cited by 113 publications

References 13 publications

Evolution of Locomotion on a Physical Tensegrity Robot

Evolution of Locomotion on a Physical Tensegrity Robot

Iterative learning control for trajectory tracking of tensegrity robot

A Three-DoF Actuated Robot

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