Andrés González-Fallas1
Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería, Vol.38, No.1, pp. 1-10, 2022, DOI:10.23967/j.rimni.2022.03.011
- 31 March 2022
Abstract The use of tensegrity structures in robotics has been studied in recent years thanks to their properties of light weight, efficient distribution of forces and the possibility of applying control methods for the active shape reconfiguration, with crawling and rolling as examples. The structural composition of tensegrities, particularly the use of tensile elements, results in the presence of infinitesimal mechanisms. These affine motions have been considered for the development of control strategies that follow the manifold of stable positions described by these mechanisms. However, in robotic applications, the presence of rigid body motions can cause… More >
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