ICRA 2012 Paper Abstract


Paper WeA04.6

Koizumi, Yuusuke (Ritsumeikan University), Shibata, Mizuho (Kinki Univ.), Hirai, Shinichi (Ritsumeikan Univ.)

Rolling Tensegrity Driven by Pneumatic Soft Actuators

Scheduled for presentation during the Regular Session "Novel Robot Designs" (WeA04), Wednesday, May 16, 2012, 09:45−10:00, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 21, 2018

Keywords Soft Material Robotics, Mechanism Design of Mobile Robots, Tendon/Wire Mechanism


In this paper, we describe the rolling of a tensegrity robot driven by a set of pneumatic soft actuators. Tensegrity is a mechanical structure consisting of a set of rigid elements connected by elastic tensional elements. Introducing tensegrity structures, we are able to build soft robots with larger size. Firstly, we show the prototype of a six-strut tensegrity robot, which is driven by twenty-four pneumatic McKibben actuators. Second, we formulate the geometry of the tensegrity robot. We categorize contact states between a six-strut tensegrity robot and a flat ground into two; axial symmetric contact and planar symmetric contact. Finally, we experimentally examine if rolling can be performed over a flat ground for individual sets of the actuators and discuss the strategy of rolling.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-08-21  18:14:11 PST  Terms of use