Dynamic simulation for 6-strut tensegrity robots
文献类型：会议论文
| 作者 | Du WJ(杜汶娟); Ma SG(马书根) ; Li B(李斌); Wang MH(王明辉); 平井慎一
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| 出版日期 | 2014 |
| 会议名称 | IEEE International Conference on Information and Automation (ICIA 2014) |
| 会议日期 | July 28-30, 2014 |
| 会议地点 | Hailar, China |
| 关键词 | Tensegrity robots Simulations Open Dynamic Engine |
| 页码 | 870-875 |
| 中文摘要 | Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling process and additional force constraints. Using ODE (Open Dynamic Engine) as a simulation tool can avoid the cumbersome modeling process. However, the robot model would collapse with the growth of DOFs (Degrees of Freedom). This paper solves the stable problem caused by large number of DOFs and builds a simulation environment for 6-strut tensegrity robots. Dynamic simulations for rolling and crawling gaits are performed in the simulation environment. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceeding of the IEEE International Conference on Information and Automation
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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 | 978-1-4799-4100-1 |
| WOS记录号 | WOS:000363815200159 |
| 源URL | [http://ir.sia.cn/handle/173321/15401]  |
| 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. Dynamic simulation for 6-strut tensegrity robots[C]. 见:IEEE International Conference on Information and Automation (ICIA 2014). Hailar, China. July 28-30, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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