Modeling and Analysis of Tensegrity Robot for Passive Dynamic Walking
Yanqiu Zheng,Longchuan Li,Fumihiko Asano,Cong Yan,Xindi Zhao,Haosong Chen,Yanqiu Zheng,Longchuan Li,Fumihiko Asano,Cong Yan,Xindi Zhao,Haosong Chen
This paper introduces a planar tensegrity robot that walks passively and cyclically on a gentle downhill, where its gait versatility can be strengthened by applying actuation forces on the connection cables. The novelty of this work is that we design the structure of this passive robot inspired by the rimless wheel, which naturally generates cyclic locomotion. Consequently, its mathematical model ...