Multi-locomotion transition of tensegrity mobile robot under different terrains

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外文摘要：Knowing how to make a multi-locomotion robot achieve locomotion transition under different terrains is a challenging problem,especially for tensegrity robots with multi-locomotion modes.In this study,a motion planning method for the transition of a multi-locomotion tensegrity robot(hereafter TJUBot)under different terrains is proposed.The robot can achieve four loco-motion modes:earthworm-like,inchworm-like,tumbling,and sliding locomotion with only two motors.Kinematic models of the four locomotion modes under five typical terrains,including flat ground,confined space,obstacle,gap,and descending slope,are established using the energy method.Meanwhile,the kinematic characteristics(driving law and initial position)of the robot under these terrains are obtained.On this basis,motion planning for the locomotion transition of TJUBot is conducted,which includes a perception strategy based on three laser sensors and a transition strategy under different terrains.The driving laws of the two motors that can ensure the effective locomotion transition of TJUBot under different terrains are naturally obtained.Finally,experiments are conducted.Results demonstrate that the robot can achieve effective locomotion transition when the motion planning method is used.

外文关键词：

multi-locomotion robottensegritykinematic modelinglocomotion transition

作者：

YANG Qi、LIU XinYu、WANG PanFeng、SONG YiMin、SUN Tao

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作者单位：

Key Laboratory of Mechanism Theory and Equipment Design(Tianjin University),Ministry of Education,Tianjin University,Tianjin 300350,China

基金：

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaTianjin Science and Technology Planning Project

项目编号：

62027812522750285220502820201193

出版年：

2024

DOI：

10.1007/s11431-022-2334-3

中国科学:技术科学(英文版)

中国科学院

中国科学:技术科学(英文版)

CSTPCDEI

影响因子：1.056

ISSN：1674-7321

年,卷(期)：2024.67(2)

参考文献量32