@inproceedings{SchorrEbnetZimmermannetal., author = {Schorr, Philipp and Ebnet, Markus and Zimmermann, Klaus and B{\"o}hm, Valter}, title = {Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members}, series = {Perspectives in Dynamical Systems I Applications : DSTA Ł{\´o}d{\'{z}} Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics \& Statistics ; Bd. 453)}, booktitle = {Perspectives in Dynamical Systems I Applications : DSTA Ł{\´o}d{\'{z}} Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics \& Statistics ; Bd. 453)}, editor = {Awrejcewicz, Jan}, publisher = {Springer International Publishing}, address = {Cham}, isbn = {978-3-031-56491-8}, doi = {10.1007/978-3-031-56492-5_32}, pages = {437 -- 449}, 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.}, language = {en} }