Investigation of a Multistable Tensegrity Robot applied as Tilting Locomotion System
Philipp Schorr,Florian Schale,Jan Marc Otterbach,Lena Zentner,Klaus Zimmermann,Valter Böhm,Philipp Schorr,Florian Schale,Jan Marc Otterbach,Lena Zentner,Klaus Zimmermann,Valter Böhm
This paper describes the development of a tilting locomotion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. A tensegrity structure featuring 4 stable equilibrium states is considered. The mechanical model of the structure is presented and the according equations of motion are derived. The variation of the length of selected structural members allo...
