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1. US20180326577 - MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS

Office United States of America
Application Number 15774112
Application Date 10.11.2015
Publication Number 20180326577
Publication Date 15.11.2018
Publication Kind A1
IPC
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
10
characterised by positioning means for manipulator elements
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
57
Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02
with ground-engaging propulsion means, e.g. walking members
B25J 9/10
B62D 57/02
CPC
B25J 9/1075
B62D 57/02
B64G 2001/1071
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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