Active shaping of a tensegrity robot via pre-pressure

Abstract

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… (More)
DOI: 10.1109/AIM.2013.6584062

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