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1. WO2017083534 - MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS

Publication Number WO/2017/083534
Publication Date 18.05.2017
International Application No. PCT/US2016/061353
International Filing Date 10.11.2016
IPC
B25J 11/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
B25J 9/10 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
B25J 9/12 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
B25J 19/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
CPC
B25J 9/1075
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
1075with muscles or tendons
B62D 57/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
B64G 2001/1071
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
GCOSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
1Cosmonautic vehicles
10Artificial satellites; Systems of such satellites; Interplanetary vehicles
105Space science
1064specifically adapted for interplanetary, solar or interstellar exploration
1071Planetary landers intended for the exploration of the surface of planets, moons or comets
B64G 4/00
BPERFORMING OPERATIONS; TRANSPORTING
64AIRCRAFT; AVIATION; COSMONAUTICS
GCOSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
4Tools specially adapted for use in space
Applicants
  • THE REGENTS OF THE UNIVERSITY OF CALIFORNIA [US]/[US]
Inventors
  • CHEN, Lee- Huang
  • KHADERI, Azhar
  • LIM, Alexander, Y.
  • KIM, Kyunam
  • MOON, Deaho
  • KEEGAN, Peadar
  • AGOGINO, Alice, M.
  • AGOGINO, Adrian
Agents
  • REMUS, Laura, G.
Priority Data
62/253,51910.11.2015US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
(FR) ARCHITECTURE DE COMMANDE ET D'ACTIONNEMENT DISTRIBUÉE, CENTRÉE SUR UNE TIGE MODULAIRE POUR ROBOTS SPHÉRIQUES BASÉS SUR LE CONCEPT DE TENSÉGRITÉ
Abstract
(EN)
According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.
(FR)
Selon certains modes de réalisation de l'invention, un robot basé sur le concept de tenségrité comprend une pluralité d'éléments de compression, et une pluralité d'éléments de traction reliés aux éléments de compression pour former entre eux une structure définie dans l'espace sans les éléments de compression formant des connexions directes de transmission de charge. Chaque élément de compression présente une extension axiale pourvue d'une première extrémité axiale et d'une seconde extrémité axiale et d'une région axiale centrale. Le robot basé sur le concept de tenségrité comprend également une pluralité d'actionneurs, chacun étant fixé à l'un des éléments de compression dans une zone axiale centrale correspondante. Le robot basé sur le concept de tenségrité comprend également une pluralité de contrôleurs, chacun étant fixé à l'un des éléments de compression. Chaque actionneur est relié de façon fonctionnelle à un élément de traction correspondant de façon à modifier sélectivement une tension sur l'élément de traction en réponse aux commandes d'un contrôleur pour modifier un centre de masse du robot basé sur le concept de tenségrité afin de permettre son déplacement.
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