Control synthesis for a class of light and agile robotic tensegrity structures

Aldrich, Jack; Skelton, Robert E.; Kreutz-Delgado, Kenneth

doi:10.1109/acc.2003.1242560

Cited by 59 publications

(52 citation statements)

References 8 publications

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“…Because of the challenge in building and controlling phys-ical tensegrity robots, the majority of tensegrity robot research has occurred in simulation rather than reality (Aldrich et al, 2003;Paul et al, 2006;Graells Rovira and Mirats Tur, 2009;Iscen et al, 2013 The case for physical evolution…”

Section: Tensegrity Robotsmentioning

confidence: 99%

Evolution of Locomotion on a Physical Tensegrity Robot

Khazanov¹,

Jocque²,

Rieffel³

2014

Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems

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Due to their high strength-to-weight ratio, robustness and deformability, tensegrity structures are an appealing platform for the emerging field of soft robotics, with applications ranging from search-and-rescue to field-deployable structures. Unfortunately, these properties also make tensegrities challenging to control through conventional means. In this paper we describe a novel means of vibration-based tensegrity actuation which allows for the manual control of a physical tensegrity robot in the plane as well as state-machine based target following. We demonstrate the evolution of effective gaits using only physical evaluations of the robot, and further demonstrate how a combination of the state-machine with the hill climber allows for the hands-off automation of the evolutionary process. We conclude with a description of how this can lead to a bootstrapping effect, with the potential to significantly accelerate and automate the physical evolution of our tensegrity robot.

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Section: Tensegrity Robotsmentioning

confidence: 99%

Evolution of Locomotion on a Physical Tensegrity Robot

Khazanov¹,

Jocque²,

Rieffel³

2014

Artificial Life 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems

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“…On this subject, Aldrich [1] already built and controlled redundant manipulators based on tensegrity frameworks and, Paul et al [57], built the first mobile tensegrity robot based on the regular triangular prism. Even though, little research has been done in this area.…”

Section: Motivationmentioning

confidence: 99%

Tensegrity frameworks: Static analysis review

Juan

Tur

2008

Mechanism and Machine Theory

209

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This paper hands in a review of the basic issues about the statics of tensegrity structures. Definitions and notation for the most important concepts, borrowed from the vast existing literature, are summarized. All of these concepts and definitions provide a complete mathematical framework to analyze the rigidity and stability properties of tensegrity structures from three different, but related, points of view: motions, forces and energy approaches. Several rigidity and stability definitions are presented in this paper and hierarchically ordered, from the strongest condition of infinitesimal rigidity to the more wide concept of simple rigidity, so extending some previous classifications already available.Important theorems regarding the relationship between these definitions are also put together to complete the static overview of tensegrity structures. Examples of different tensegrity structures belonging to each of the rigidity and stability categories presented are described and analyzed. Concluding the static analysis of tensegrity structures, a review of existing form-finding methods is presented.

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“…Therefore, they are cannot be considered as structurally integrated. There are only few examples where the design of the structure and the control system were carried out simultaneously (Lu and Skelton, 1998;Aldrich et al, 2003;Adriaenssens and Ney, 2007;Thrall et al, 2012a;.…”

Section: Introductionmentioning

confidence: 99%

Dialectic Form Finding of Structurally Integrated Adaptive Structures

Rhode-Barbarigos¹,

Charpentier²,

Adriaenssens³

et al. 2015

American Journal of Engineering and Applied Sciences

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Structural engineering, prompted by advances in mechanics and computing as well as design principles such as sustainability and resilience, is evolving towards adaptive structures. Adaptive structures are structures that use active components to change shape and properties in response to their environment and/or to their users' desires. Form-found structures, such as tensegrity and shell structures, can be designed to accommodate such changes within their structural behavior. Dialectic form finding is an extension of the traditional form-finding process integrating performance-related constraints and criteria in the search of a geometry in static equilibrium. Two examples of dialectic form-found structurally integrated adaptive structures are presented. The first example is a shape-shifting tensegrity-inspired structure, while the second example is a shapeshifting shell structure. Both systems are designed to explore elastic deformations for shape changes reducing actuation requirements and highlighting the potential of the proposed method.

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Control synthesis for a class of light and agile robotic tensegrity structures

Cited by 59 publications

References 8 publications

Evolution of Locomotion on a Physical Tensegrity Robot

Evolution of Locomotion on a Physical Tensegrity Robot

Tensegrity frameworks: Static analysis review

Dialectic Form Finding of Structurally Integrated Adaptive Structures

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