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Worm-Like Mobile Robot Based on a Tensegrity Structure

  • This work presents a novel concept to develop mobile robots enabling crawling locomotion in tubular environment. Chain-like systems are designed by serial cascading a uniform tensegrity module. Inspired by the movement of worms in nature, an undulating shape change of the system is targeted to generate locomotion. The shape changeability of an exemplary tensegrity module due to internal actuation is examined in simulations and experiments. A prototype consisting of these tensegrity modules is manufactured and the locomotion principle is verified in experiments. Comparing to existing prototypes this approach enables an enhanced compliance due to the modular assembly of tensegrity structures.

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Metadaten
Author:Valter BöhmGND, Philipp Schorr, Florian Schale, Tobias Kaufhold, Lena ZentnerORCiD, Klaus Zimmermann
DOI:https://doi.org/10.1109/robosoft51838.2021.9479193
ISBN:978-1-7281-7713-7
Parent Title (English):2021 IEEE 4th International Conference on Soft Robotics (RoboSoft): 2.04.2021 - 16.04.2021, New Haven, CT, USA
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2021
Release Date:2022/02/09
Tag:Mobile robots; motion control
First Page:358
Last Page:363
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG