Low-Cost Wireless Modular Soft Tensegrity Robots

被引：0

作者：

Kimber, Jonathan ^{[1
]}

Ji, Zongliang ^{[1
]}

Petridou, Aikaterini ^{[1
]}

Sipple, Thomas ^{[1
]}

Barhydt, Kentaro ^{[1
]}

Boggs, James ^{[1
]}

Dosiek, Luke ^{[2
]}

Rieffel, John ^{[3
]}

机构：

[1] Union Coll, Schenectady, NY 12308 USA

[2] Union Coll, Elect Engn, Schenectady, NY 12308 USA

[3] Union Coll, Comp Sci, Schenectady, NY 12308 USA

来源：

2019 2ND IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT 2019) | 2019年

关键词：

REALITY GAP; FABRICATION; SIMULATION; DESIGN;

D O I：

10.1109/robosoft.2019.8722723

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Completely soft robots are emerging as a compelling new platform for exploring and operating in unstructured, rugged, and dynamic environments. Unfortunately, the very properties which make soft robots so appealing also make them difficult to accurately model, scalably design, and robustly control. One of the outstanding obstacles to exploring these challenges is the relative lack of low-cost entry-level investigative model systems. In this paper we describe the design and implementation of a low-cost entry-level soft robotics platform based upon modular tensegrity structures. This modular platform can scale across a variety of shapes and sizes and is capable of untethered control. We then demonstrate how unsupervised learning algorithms can be used to produce vibration-based locomotion.

引用

页码：88 / 93

页数：6

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