A Lightweight, Multi-Axis Compliant Tensegrity Joint

被引：0

作者：

Lessard, Steven ^{[1
,2
]}

Bruce, Jonathan ^{[1
,2
]}

Jung, Erik ^{[1
,2
]}

Teodorescu, Mircea ^{[2
]}

SunSpiral, Vytas ^{[1
,3
]}

Agogino, Adrian ^{[1
,2
]}

机构：

[1] NASA, Ames Dynam Tensegr Robot Lab, Moffett Field, CA 94035 USA

[2] Univ Calif Santa Cruz, Santa Cruz, CA 95064 USA

[3] Stinger Ghaffarian Technol, Greenbelt, MD 20770 USA

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a lightweight, multi-axis compliant tensegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cables in a method inspired by muscular actuation in a person. Unlike many series elastic actuators, this joint is structurally compliant not just along each axis of rotation, but along other axes as well. Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person. The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.

引用

页码：630 / 635

页数：6

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