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.
Author: | Valter BöhmGND, Philipp Schorr, Florian Schale, Tobias Kaufhold, Lena ZentnerORCiD, Klaus Zimmermann |
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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): |