Structure of the ball tensegrity robot

Ani Luo; R. E. Skelton; Heping Liu; Rongqiang Liu; Hongwei Guo; Longkun Wang

doi:10.1109/ROBIO.2014.7090593

Structure of the ball tensegrity robot

Ani Luo
, R. E. Skelton
, Heping Liu^*
, Rongqiang Liu
, Hongwei Guo
, Longkun Wang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Engineering University
University of California at San Diego

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

Abstract

A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1781-1786
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090593
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090593

Cite this

Luo, A., Skelton, R. E., Liu, H., Liu, R., Guo, H., & Wang, L. (2014). Structure of the ball tensegrity robot. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1781-1786). Article 7090593 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090593

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title = "Structure of the ball tensegrity robot",

abstract = "A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.",

author = "Ani Luo and Skelton, \{R. E.\} and Heping Liu and Rongqiang Liu and Hongwei Guo and Longkun Wang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

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doi = "10.1109/ROBIO.2014.7090593",

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Luo, A, Skelton, RE, Liu, H, Liu, R , Guo, H & Wang, L 2014, Structure of the ball tensegrity robot. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090593, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1781-1786, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090593

Structure of the ball tensegrity robot. / Luo, Ani; Skelton, R. E.; Liu, Heping et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1781-1786 7090593 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Wang, Longkun

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N2 - A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.

AB - A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we solve for the internal force density matrix of the tensegrity structure. Consideration yielding failure and buckling failure constraints, minimal mass of total structure is computed. The internal force density of the members is optimized to get the minimal mass. And minimal radii of members are derived. Simulation and physical structure test mode are made.

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Luo A, Skelton RE, Liu H, Liu R , Guo H, Wang L. Structure of the ball tensegrity robot. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1781-1786. 7090593. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090593

Structure of the ball tensegrity robot

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