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Control and simulation of a tensegrity-based mobile robot
dc.contributor.author | Graells Rovira, Albert |
dc.contributor.author | Mirats Tur, Josep Maria |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2010-03-29T18:51:44Z |
dc.date.available | 2010-03-29T18:51:44Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Graells, A.; Mirats, J. Control and simulation of a tensegrity-based mobile robot. "Robotics and autonomous systems", 2009, vol. 57, núm. 5, p. 526-535. |
dc.identifier.issn | 0921-8890 |
dc.identifier.uri | http://hdl.handle.net/2117/6834 |
dc.description.abstract | Tensegrity structures can provide a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that may be able to adapt their form to unconstrained environments. The main issue of this paper is twofold, first, to derive appropriate and general dynamic equations of motion to study the movement of such structures in the space; second to demonstrate, by means of simulation, that a tensegrity structure can execute any desired trajectory path by actuating some or all of its elements. |
dc.format.extent | 10 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Mobile robots |
dc.title | Control and simulation of a tensegrity-based mobile robot |
dc.type | Article |
dc.subject.lemac | Robots mòbils |
dc.identifier.doi | 10.1016/j.robot.2008.10.010 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.robot.2008.10.010 |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 2185348 |
dc.description.version | Postprint (published version) |
local.citation.author | Graells, A.; Mirats, J. |
local.citation.publicationName | Robotics and autonomous systems |
local.citation.volume | 57 |
local.citation.number | 5 |
local.citation.startingPage | 526 |
local.citation.endingPage | 535 |
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