Active shaping of a tensegrity robot via pre-pressure

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	Active shaping of a tensegrity robot via pre-pressure
	Hirai, Shinichi; Koizumi, Yuusuke; Shibata, Mizuho; Wang MH(王明辉); Li B(李斌)
	2013
会议名称	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
会议日期	July 9-12, 2013
会议地点	Wollongong, NSW, Australia
关键词	Pneumatic actuators Pneumatic equipment Robots
页码	19-25
中文摘要	This paper describes active shaping of a tensegrity robot by pre-pressure applied to pneumatic actuators that drive the robot. The pre-pressure helps to reduce unevenness of deformation properties of pneumatic actuators. We experimentally examined if transitions among contacts can be performed under pre-pressure using our prototype of a six-strut tensegrity robot. Based on the experimental results, we have found that all transitions between two neighboring contacts can be performed by activating one of twelve actuator pairs. © 2013 IEEE.
收录类别	EI ; CPCI（ISTP）
产权排序	3
会议主办者	IEEE RAS; IEEE IES; ASME; DSC; University of Wollongong
会议录	2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
会议录出版者	IEEE Computer Society
会议录出版地	Washington, United States
语种	英语
ISBN号	978-1-4673-5319-9
WOS记录号	WOS:000328705300004
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13900]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Hirai, Shinichi,Koizumi, Yuusuke,Shibata, Mizuho,et al. Active shaping of a tensegrity robot via pre-pressure[C]. 见:2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, NSW, Australia. July 9-12, 2013.