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Control and simulation of a tensegrity-based mobile robot

Autor
Graells, A.; Mirats, J.
Tipus d'activitat
Article en revista
Revista
Robotics and autonomous systems
Data de publicació
2009
Volum
57
Número
5
Pàgina inicial
526
Pàgina final
535
DOI
https://doi.org/10.1016/j.robot.2008.10.010 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/6834 Obrir en finestra nova
URL
http://dx.doi.org/10.1016/j.robot.2008.10.010 Obrir en finestra nova
Resum
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, th...
Citació
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.

Participants

  • Graells Rovira, Albert  (autor)
  • Mirats Tur, Josep Maria  (autor)