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1. US20200061810 - MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS

Office
United States of America
Application Number 15774112
Application Date 10.11.2016
Publication Number 20200061810
Publication Date 15.11.2018
Publication Kind A9
IPC
B25J 9/10
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
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
CPC
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
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
Applicants The Regents of the University of California
Inventors Lee-Huang Chen
Azhar Khaderi
Alexander Y. Lim
Kyunam Kim
Deaho Moon
Peadar Keegan
Alice M. Agogino
Adrian Agogino
Title
(EN) MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
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.

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