Morphological design for controlled tensegrity quadruped locomotion

@article{HustigSchultz2016MorphologicalDF,
  title={Morphological design for controlled tensegrity quadruped locomotion},
  author={Dawn Hustig-Schultz and Vytas SunSpiral and Mircea Teodorescu},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={4714-4719}
}
From the viewpoint of evolution, vertebrates first accomplished locomotion via motion of the spine. Legs evolved later, to enhance mobility, but the spine remains central. Contrary to this, most robots have rigid torsos and rely primarily on movement of the legs for mobility. The force distributing properties of tensegrity structures presents a potential means of developing compliant spines for legged robots, with the goal of driving motion from the robots core. We present an initial… CONTINUE READING

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