Design and control of tensegrity morphing airfoils
M Chen, J Liu, RE Skelton - Mechanics Research Communications, 2020 - Elsevier
We present a general approach of design, dynamics, and control for tensegrity morphing
airfoils. Firstly, based on reduced order Class-k tensegrity dynamics, a shape control law for …
airfoils. Firstly, based on reduced order Class-k tensegrity dynamics, a shape control law for …
[PDF][PDF] Motes: Modeling of tensegrity structures
Tensegrity system dynamics is a subset of the class of multi-body dynamics which includes
cylindrical rigid bodies (bars) and elastic members (strings) arranged in a stabilizable …
cylindrical rigid bodies (bars) and elastic members (strings) arranged in a stabilizable …
Inverse statics optimization for compound tensegrity robots
AP Sabelhaus, AH Li, KA Sover… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
Robots built from cable-driven tensegrity (tension-integrity') structures have many of the
advantages of soft robots, such as flexibility and robustness, yet still obey simple statics and …
advantages of soft robots, such as flexibility and robustness, yet still obey simple statics and …
Inclined surface locomotion strategies for spherical tensegrity robots
This paper presents a new teleoperated spherical tensegrity robot capable of performing
locomotion on steep inclined surfaces. With a novel control scheme centered around the …
locomotion on steep inclined surfaces. With a novel control scheme centered around the …
Long short term memory model based position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control
Twisted-coiled polymer actuators (TCA) have many interesting properties that show
potentials for making high performance bionic devices. This letter presents a long short term …
potentials for making high performance bionic devices. This letter presents a long short term …
Model-predictive control with inverse statics optimization for tensegrity spine robots
Robots with flexible spines based on tensegrity structures have potential advantages over
traditional designs with rigid torsos. However, these robots can be difficult to control due to …
traditional designs with rigid torsos. However, these robots can be difficult to control due to …
Model and data based approaches to the control of tensegrity robots
This letter proposes two approaches to control the shape of the structure or the position of
the end effector for a soft-robotic application. The first approach is a model-based approach …
the end effector for a soft-robotic application. The first approach is a model-based approach …
Deployable tensegrity lunar tower
ABSTRACT A tensegrity tower design to support a given payload for the moon mining
operation is proposed in this paper. A non-linear optimization problem for the minimal-mass …
operation is proposed in this paper. A non-linear optimization problem for the minimal-mass …
Shape estimation of soft manipulators using piecewise continuous Pythagorean-hodograph curves
H Bezawada, C Woods, V Vikas - 2022 American Control …, 2022 - ieeexplore.ieee.org
In recent years, there has been significant interest in use of soft and continuum manipulators
in diverse fields including surgical and agricultural robotics. Consequently, researchers …
in diverse fields including surgical and agricultural robotics. Consequently, researchers …
Integrating structure, information architecture and control design: Application to tensegrity systems
A novel unified approach to jointly optimize structural design parameters, actuator and
sensor precision, and controller parameters is presented in this paper. The joint optimization …
sensor precision, and controller parameters is presented in this paper. The joint optimization …