Now showing items 1-3 of 3

  • A comprehensive dynamic model for class-1 tensegrity systems based on quaternions 

    Cefalo, Massimo; Mirats Tur, Josep Maria (2011)
    Article
    Open Access
    In this paper we propose a new dynamic model, based on quaternions, for tensegrity systems of class-1. Quaternions are used to represent orientations of a rigid body in the 3-dimensional space eliminating the problem of ...
  • Real-time self-collision detection algorithms for tensegrity systems 

    Cefalo, Massimo; Mirats Tur, Josep Maria (2010-06-05)
    Article
    Restricted access - publisher's policy
    This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is a ...
  • Real-time self-collision detection algorithms for tensegrity systems 

    Mirats Tur, Josep Maria; Cefalo, Massimo (2010-06-15)
    Article
    Restricted access - confidentiality agreement
    This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is a ...