DocumentCode
2575488
Title
Dynamic equations of motion for a 3-bar tensegrity based mobile robot
Author
Tur, Josep M Mirats ; Juan, Sergi Hernàndez ; Rovira, Albert Graells
Author_Institution
Inst. de Robotica i Inf. Ind. (IRI), Barcelona
fYear
2007
fDate
25-28 Sept. 2007
Firstpage
1334
Lastpage
1339
Abstract
Tensegrity structures can give 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. The main issue of this paper is to present the dynamic equations of motion for such structures, analysed from a Lagrangian point of view, and thinking in using them as mobile robots of arbitrary form and size.
Keywords
mobile robots; robot dynamics; Lagrangian analysis; Tensegrity structures; deformable structures; dynamic equations; mobile robot; motion dynamic equations; unconstrained environments; Animal structures; Bars; Construction industry; Differential equations; Mobile robots; Orbital robotics; Organisms; Parallel robots; Service robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Emerging Technologies and Factory Automation, 2007. ETFA. IEEE Conference on
Conference_Location
Patras
Print_ISBN
978-1-4244-0825-2
Electronic_ISBN
978-1-4244-0826-9
Type
conf
DOI
10.1109/EFTA.2007.4416935
Filename
4416935
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