IROS 2017poster32 citations
Design of a spherical tensegrity robot for dynamic locomotion
Kyunam Kim, Deaho Moon, Jae Young Bin, Alice M. Agogino
Abstract
This work presents a novel spherical tensegrity robot, T12-R, which is designed and prototyped based on a twelve-rod tensegrity structure that resembles a rhombicuboctahedron. The geometry of T12-R allows for fast rolling and a detailed description of the robot design is provided. A simulation study of T12-R shows that the robot is capable of performing static locomotion. Control strategies for achieving dynamic locomotion in hardware are discussed.
BibTeX
@inproceedings{iros2017_designofaspheric,
title = {Design of a spherical tensegrity robot for dynamic locomotion},
author = {Kyunam Kim and Deaho Moon and Jae Young Bin and Alice M. Agogino},
booktitle = {IROS 2017},
year = {2017}
}