TY - JOUR A1 - Schorr, Philipp A1 - Carrillo Li, Enrique Roberto A1 - Kaufhold, Tobias A1 - Rodriguez Hernandez, Jorge Antonio A1 - Zentner, Lena A1 - Zimmermann, Klaus A1 - Böhm, Valter T1 - Kinematic analysis of a rolling tensegrity structure with spatially curved members JF - Meccanica N2 - In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion. KW - Tensegrity structure KW - Inverse kinematics KW - Nonholonomic mechanics Y1 - 2021 U6 - https://doi.org/10.1007/s11012-020-01199-x SN - 0025-6455 VL - 56 SP - 953 EP - 961 PB - Springer ER - TY - CHAP A1 - Schorr, Philipp A1 - Schale, Florian A1 - Otterbach, Jean Marc A1 - Zentner, Lena A1 - Zimmermann, Klaus A1 - Böhm, Valter T1 - Investigation of a Multistable Tensegrity Robot applied as Tilting Locomotion System T2 - Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA): 31 May-31 August 2020, Paris N2 - This paper describes the development of a tilting locomotion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. A tensegrity structure featuring 4 stable equilibrium states is considered. The mechanical model of the structure is presented and the according equations of motion are derived. The variation of the length of selected structural members allows to influence the prestress state and the corresponding shape of the tensegrity structure. Based on bifurcation analyses a reliable actuation strategy to control the current equilibrium state is designed. In this work, the tensegrity structure is assumed to be in contact with a horizontal plane due to gravity. The derived actuation strategy is utilized to generate tilting locomotion by successively changing the equilibrium state. Numerical simulations are evaluated considering the locomotion characteristics. In order to validate this theoretical approach a prototype is developed. Experiments regarding to the equilibrium configurations, the actuation strategy and the locomotion characteristics are evaluated using image processing tools and motion capturing. The results verify the theoretical data and confirm the working principle of the investigated tilting locomotion system. This approach represents a feasible actuation strategy to realize a reliable tilting locomotion utilizing the multistability of compliant tensegrity structures. KW - actuators KW - bifurcation KW - mechanical stability KW - mobile robots KW - motion control KW - numerical analysis KW - robot dynamics KW - robot kinematics KW - vibration control Y1 - 2020 U6 - https://doi.org/10.1109/ICRA40945.2020.9196706 SP - 2932 EP - 2938 ER - TY - CHAP A1 - Schorr, Philipp A1 - Böhm, Valter A1 - Zentner, Lena A1 - Zimmermann, Klaus ED - Gusikhin, Oleg ED - Madani, Kurosh T1 - Design of a Vibration Driven Motion System Based on a Multistable Tensegrity Structure T2 - ICINCO 2018: proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, Porto, Portugal, July 29-31, 2018 N2 - In this paper a novel approach to realize a uniaxial bidirectional vibration driven motion system with controllable direction of motion is investigated. The considered motion system bases on a tensegrity structure with multiple stable equilibrium configurations. The structure is in contact with a horizontal plane due to gravity and the actuation is realized by the harmonic change of the length of a selected member. Beside varying the actuation parameters, the direction of motion can be controlled by changing the equilibrium configuration of the tensegrity structure. In this paper the topology of the tensegrity structure and the parameter values are chosen appropriately to provide two symmetric equilibrium configurations. A change of the equilibrium state yields a novel configuration of the entire motion system which is symmetric to the original state. Utilizing the symmetry of the system the same actuation yields an opposite motion. This approach represents a reliable opportunity to control the direction of motion by changing the equilibrium state for constant actuation parameters. This paper focuses on the parameter selection and the design of the actuation of the vibration driven motion system. The working principle of the vibration driven motion system is verified by numerical simulations. This contribution represents the theoretical investigation for the further development of a prototype. KW - Compliant tensegrity structure KW - Vibration driven motion multistability Y1 - 2020 SN - 978-3-030-31992-2 U6 - https://doi.org/10.1007/978-3-030-31993-9_14 VL - 613 SP - 302 EP - 317 PB - Springer CY - Cham ER - TY - CHAP A1 - Schorr, Philipp A1 - Böhm, Valter A1 - Stepan, G. A1 - Zentner, Lena A1 - Zimmermann, Klaus A1 - Stépán, G. ED - Uhl, Tadeusz T1 - Multi-mode motion system based on a multistable tensegrity structure T2 - Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science N2 - This paper presents a multi-mode motion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. The motion system is in contact to an arbitrarily shaped rigid ground due to gravity. The movement is realized by changing successively between different equilibrium states. Depending on the strategy of changing the equilibrium configuration, different motion types occur. The reachable area of the motion system can be enlarged by adapting the motion type depending on the given environmental characteristics. Furthermore, the efficiency of the motion can be improved by choosing the most suitable motion mode. Theoretical studies regarding the change of the equilibrium states are introduced. Moreover, simulation results for the different motion modes tilting, vibration driven and jumping are illustrated. The resulting motion characteristics emphasize the advantageous adaptability of the motion system regarding to varying environmental conditions. KW - bifurcation analysis KW - multimodal motion KW - tensegrity Y1 - 2019 SN - 978-3-030-20130-2 U6 - https://doi.org/10.1007/978-3-030-20131-9_296 VL - 73 SP - 3007 EP - 3016 PB - Springer CY - Cham ER -