Dynamic equations of motion for a 3-bar tensegrity based mobile robot
Document typeConference report
Rights accessOpen Access
Tensegrity structures can give 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 to present the dynamic equations of motion for such structures, analysed from a Lagrangian point of view, and thinking in using them as mobile robots of arbitrary form and size. - Falten projectes finançadors: - TenSeBot: Estudio de estructuras tensegrity para el desarrollo de sensores manipuladores y robots móviles - MANIPTENS: Estudio y diseño de manipulador mecánico sobreactuado basado en estructuras tensigrity
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CitationMirats, J.; Hernandez, S.; Graells, A. Dynamic equations of motion for a 3-bar tensegrity based mobile robot. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2007 - Proceedings of 12th IEEE International Conference on Emerging Technologies and Factory Automation". 2007, p. 1334-1339.