Abstract:A tensegrity robot is a type of soft-rigid system, whose high compliance is prone to induce structural vibrations which traditionally should be avoided. However, a stable limit cycle oscillation at a natural frequency can be exploited to improve motion efficiency of tensegrity robots. By constructing a modal self-excitation system, we can produce limit cycle oscillation for tensegrity robots. Therefore, in this paper, we propose a method to realize modal self-excitation of underactuated tensegrity robots. A ta… Show more
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