A low-CG configuration realization method for increasing the stability of the TR-6 on a slope
文献类型：会议论文
| 作者 | Du WJ(杜文娟); Ma SG(马书根) ; Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
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| 出版日期 | 2015 |
| 会议名称 | 2015 IEEE International Conference on Mechatronics and Automation (ICMA) |
| 会议日期 | August 2-5, 2015 |
| 会议地点 | Beijing |
| 关键词 | Tensegrity robots low-CG configurations stability slope |
| 页码 | 1834-1839 |
| 中文摘要 | Tensegrity robots are novel deformable robots based on tensegrity structures. The 6-strut tensegrity robots (TR-6) are similar to spheres. This characteristic allows them to generate rolling gaits easily, but leads to the rolling down problem when they are on a slope. In this paper, as lowering the center of gravity is an efficient way to improve the stability of the TR-6 on a slope, a low-CG(center of gravity) configuration is generated by self-deformation. However, self-deformation may lead to unexpected rolling. To lower the position of the center of gravity and avoid rolling, a low-CG configuration realization method is proposed that contains two steps. Firstly, the stability of the undeformed configurations are analyzed and the most stable undeformed configuration is selected as the initial configuration. Secondly, the low-CG configuration is generated based on the most stable undeformed configuration by suitable deformation. Comparisons are taken between the undeformed configurations and the low-CG configurations in ODE simulations, and the results show the stability of the TR-6 is increased by applying the low-CG configurations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2015 IEEE International Conference on Mechatronics and Automation (ICMA)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4799-7098-8 |
| WOS记录号 | WOS:000380447600320 |
| 源URL | [http://ir.sia.cn/handle/173321/17463]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Du WJ,Ma SG,Li B,et al. A low-CG configuration realization method for increasing the stability of the TR-6 on a slope[C]. 见:2015 IEEE International Conference on Mechatronics and Automation (ICMA). Beijing. August 2-5, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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