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2024 | OriginalPaper | Chapter

Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members

Authors : Philipp Schorr, Markus Ebnet, Klaus Zimmermann, Valter Böhm

Published in: Perspectives in Dynamical Systems I — Applications

Publisher: Springer International Publishing

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Abstract

In this paper a compliant tensegrity structure based on spatially curved compressed members is presented. Due to an internal variation of the prestress state the shape of the structure can be controlled. In particular, a modification of a cylindrical outer shape to a conical form is achieved. Regarding to the applications in mobile robotics this approach enables a steerable two-dimensional rolling locomotion system. Beside the consideration of the underlying non-holonomic constraints a simplified mechanical model an the corresponding equations of motion are derived for a predefined actuation principle. Various numerical simulations are evaluated focusing on the corresponding locomotion behavior. Based on these results a reliable actuation strategy to navigate in two dimensions is proposed.

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previous chapter Numerical Analysis of Nonlinear Dynamics of an Offshore Platform for Energy Harvesting
next chapter Fractional Order Controllers for Twin Rotor Aerodynamical System
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Metadata
Title
Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members
Authors
Philipp Schorr
Markus Ebnet
Klaus Zimmermann
Valter Böhm
Copyright Year
2024
Book
Perspectives in Dynamical Systems I — Applications

Print ISBN: 978-3-031-56491-8

Electronic ISBN: 978-3-031-56492-5

Copyright Year: 2024

DOI
https://doi.org/10.1007/978-3-031-56492-5_32

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