TY - GEN
T1 - A model of caterpillar locomotion based on Assur tensegrity structures
AU - Omer, Orki
AU - Offer, Shai
AU - Amir, Ayali
AU - Uri, Ben Hanan
PY - 2011
Y1 - 2011
N2 - This paper presents an ongoing project aiming at building a robot composed of Assur tensegrity structures, which mimics caterpillar locomotion. Caterpillars are soft-bodied animals capable of making complex movements with astonishing fault-tolerance. In our model, each caterpillar segment is represented by a 2D tensegrity triad consisting of two bars connected by two cables and a strut. The cables represent the major longitudinal muscles of the caterpillar, while the strut represents hydrostatic pressure. The control scheme in this model is divided into localized low-level controllers and a high-level control unit. The unique engineering properties of Assur tensegrity structures, which were mathematically proved last year, together with the suggested control algorithm provide the model with robotic softness. Moreover, the degree of softness can be continuously changed during simulation, making this model suitable for simulation of soft-bodied caterpillars as well as other types of soft animals.
AB - This paper presents an ongoing project aiming at building a robot composed of Assur tensegrity structures, which mimics caterpillar locomotion. Caterpillars are soft-bodied animals capable of making complex movements with astonishing fault-tolerance. In our model, each caterpillar segment is represented by a 2D tensegrity triad consisting of two bars connected by two cables and a strut. The cables represent the major longitudinal muscles of the caterpillar, while the strut represents hydrostatic pressure. The control scheme in this model is divided into localized low-level controllers and a high-level control unit. The unique engineering properties of Assur tensegrity structures, which were mathematically proved last year, together with the suggested control algorithm provide the model with robotic softness. Moreover, the degree of softness can be continuously changed during simulation, making this model suitable for simulation of soft-bodied caterpillars as well as other types of soft animals.
UR - http://www.scopus.com/inward/record.url?scp=84863560908&partnerID=8YFLogxK
U2 - 10.1115/DETC2011-47708
DO - 10.1115/DETC2011-47708
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AN - SCOPUS:84863560908
SN - 9780791854839
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 739
EP - 745
BT - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
T2 - ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Y2 - 28 August 2011 through 31 August 2011
ER -