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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 December 12, 2017

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

Abstract

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.

 

 

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