Tensegrity mobile robots have merits of high stiff-to-mass ratio and superior structural compliance, making them a hot research topic recently. In this work, a novel modular tensegrity mobile robot with multi-locomotion modes is proposed. Unlike the existing conventional tensegrity robots, the robot in this work has abundant deformation ability, and can achieve four locomotion modes in terms of earthworm-like, inchworm-like, tumbling and hybrid locomotion. Afterwards, motion planning of the four locomotion modes based on the kinematic model is implemented, and the driving law of the motors under each locomotion mode can be obtained. A prototype of the robot is developed, and experimental results show that the robot can effectively adjust to five types of terrains by the four locomotion modes (maximum velocity on flat ground 33.90 BL/min, minimum height of confined space 1.18 BH, maximum angle of slope 9°, maximum height of obstacle 0.55 BH and maximum width of gap 0.21 BL. BL and BH represent the body length and body height of the robot, respectively). This work provides a useful reference for the application of tensegrity structures in the field of multi-locomotion mobile robot.
A Modular Tensegrity Mobile Robot with Multi-locomotion Modes
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
21.10.2023
15 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Tensegrity robot , multi-locomotion , motion planning Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , Computer Communication Networks , Special Purpose and Application-Based Systems , User Interfaces and Human Computer Interaction
A Modular Tensegrity Mobile Robot with Multi-locomotion Modes
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