Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms

González, Ainhoa; Luo, Ani; Shi, Dongyan

doi:10.1590/1679-78255331

Cited by 6 publications

(8 citation statements)

References 18 publications

(19 reference statements)

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“…The first is homeostasis, where tensegrity reinforces stable structure. In soft robotic actuation, adjustable tensegrity structures are required to maintain homeostasis [48]. Dynamic structures occur during morphogenesis, and are representative of the flexibility of tensegrity structures as compression increases relative to tension, allowing for stability and continuity in the face of transformation.…”

Section: Tensegrity Of Developmental Organizationmentioning

confidence: 99%

Embodied Cognitive Morphogenesis as a Route to Intelligent Systems

Alicea¹,

Gordon²,

Parent³

2022

Preprint

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The embryological view of biological development is that coordinated gene expression along with cellular physics and migration provides the basis for pattern formation and phenotypic complexity. This stands in contrast to the prevailing view of embodied cognition, which claims that informational feedback between organisms and their environment is key to the emergence of intelligent behaviors, particularly in development. We aim to unite these two perspectives, and call this approach embodied cognitive morphogenesis. Embodied cognitive morphogenesis leads to both fluctuating phenotypic asymmetry and the emergence of information processing subsystems. Our guiding question involves the role morphogenetic symmetry-breaking plays in the differentiation of specialized organismal subsystems, and how this serves as a substrate for the emergence of autonomous behaviors. As the process of embodied cognitive morphogenesis unfolds, we observe three distinct properties: acquisition, generativity, and transformation. A related issue involves the quantitative models we might use to evaluate the increasingly complex structure of embodied cognitive morphogenetic agents. These include tensegrity modeling, differentiation trees, and embodied hypernetworks. These three types of models provide a means to identify the context of various symmetry-breaking events in developmental time. Related concepts that help us define this phenotype further will also be discussed. These include concepts such as modularity, homeostasis, and 4E (embodied, enactive, embedded, and extended) cognition. In conclusion, we will consider these autonomous developmental systems as a process called connectogenesis, or the process of connecting various parts of the emerged phenotype. This approach is useful for the analysis of organisms and the design of bio-inspired computational agents.

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Section: Tensegrity Of Developmental Organizationmentioning

confidence: 99%

Embodied Cognitive Morphogenesis as a Route to Intelligent Systems

Alicea¹,

Gordon²,

Parent³

2022

Preprint

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“…Out of many possible approaches to the analysis of such structures [12,15,21], the authors decided to use the one proposed in [17], which combines the finite element method (FEM) and the multibody dynamics (MBD) simulations. Finite element modeling enables qualitative and quantitative analyses of the behavior of deformable structures with the defined boundary conditions and loading.…”

Section: In Search For the Best Solutionmentioning

confidence: 99%

“…Its structure was based on the system developed by Snelson [14]-a mast constructed from overlapped regular simplex modules. Another structure of this type was proposed in [15], where the authors presented an algorithm for the reconfiguration of a two-stage tensegrity mast. Another work [16] explored possible deployment scenarios of tensegrity systems.…”

Section: Introductionmentioning

confidence: 99%

“…The response of the structure was analyzed numerically using a dynamic relaxation algorithm. Another approach was proposed in [15], where a reconfiguration study of multi-stage tensegrity systems was discussed. The authors used the infinitesimal mechanisms to generate a path of positions along which a multi-stage tensegrity can change its shape.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

In Search of Lightweight Deployable Tensegrity Columns

Zawadzki

Sabouni-Zawadzka

2020

Applied Sciences

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In civil engineering, there is an occasional need to assure an additional support for a structure due to the loss of the load carrying capacity (e.g., as a result of natural disasters or aging) or for a lightweight structure to support temporary objects (e.g., tents, big advertisement banners, temporary antenna masts). In the present study, the authors propose deployable tensegrity columns to be used in such cases. This paper is aimed at answering the question: Which tensegrity column would be the best for the specified application? Four tensegrity columns are analyzed in various deployment configurations to find the answer to this question. Computer simulations are performed in the finite element (FE) and multibody dynamics (MBD) software to provide quantitative and qualitative results. The applied methods are validated by comparing self-stress states at various steps of the analysis. The most important part of the article is the comparative table, which contains quantitative results obtained from the performed analyses, which can be used to indicate the structures that are most appropriate for certain applications. The results may also be used as a starting point for research in other fields of science like robotics or mechatronics. This paper is focused on obtaining full data for building scaled models for laboratory tests in the future.

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“…Recently, Atig et al (2019) studied the dynamic stability of a Geiger's dome and focused on the effect of active damping on the stability of the structure. González et al (2019) proposed a new reconfiguration strategy for actuated multistage tensegrity structuresusing infinitesimal mechanism. They combined the force density method with a marching procedure to solve the equilibrium problem based on differential equations defining the kinematic constraints of the system.…”

Section: Introductionmentioning

confidence: 99%