TY - CHAP A1 - Schorr, Philipp A1 - Ebnet, Markus A1 - Zimmermann, Klaus A1 - Böhm, Valter ED - Awrejcewicz, Jan T1 - Dynamic Investigation of a Rolling Locomotion System Based on a Tensegrity Structure with Spatially Curved Compressed Members T2 - Perspectives in Dynamical Systems I Applications : DSTA Łódź Poland December 6 - 9 2021. - (Springer Proceedings in Mathematics & Statistics ; Bd. 453) N2 - 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. KW - Tensegrity KW - Mobile robotics KW - Non-holonomic Constraints Y1 - 2024 SN - 978-3-031-56491-8 U6 - https://doi.org/10.1007/978-3-031-56492-5_32 SP - 437 EP - 449 PB - Springer International Publishing CY - Cham ER -