首页|Design and experiments of a novel quadruped robot with tensegrity legs
Design and experiments of a novel quadruped robot with tensegrity legs
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NSTL
Elsevier
Tensegrity robots, which are famous for their lightweight and capability of sustaining massive loads, have unique potential applications in task execution in complex environments. In this paper, a quadruped robot with tensegrity legs is proposed. By combining the tensegrity structure with a rigid mechanism, a 3-DOF tensegrity leg is developed. Necessary theoretical basis of the tensegrity leg including kinematics, statics, force space and force-workspace have been derived and proposed for design and control. A quadruped prototype based on tensegrity legs is manufactured and shows unique walking ability in different morphologies. The high load performance and terrain adaptability based on dynamic morphologies of the quadruped robot is verified by experiments.
NSTL
Elsevier
