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Proceedings Paper

Path planning for the deployment of tensegrity structures
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Paper Abstract

Tensegrity structures consist of tendons (in tension) and bars (in compression). Tendons are strong, light, and foldable, so tensegrity structures have the potential to be light but strong and deployable. Pulleys, NiTi wire, or other actuators to selectively tighten some strings on a tensegrity structure can be used to control its shape. This article describes the problem of asymmetric reconfiguration of tensegrity structures and poses one method of finding the open loop control law for tendon lengths to accomplish the desired geometric reconfiguration. In addition, a practical hardware experiment displays the readiness and feasibility of the method to accomplish shape control of the structure.

Paper Details

Date Published: 1 August 2003
PDF: 12 pages
Proc. SPIE 5049, Smart Structures and Materials 2003: Modeling, Signal Processing, and Control, (1 August 2003); doi: 10.1117/12.484029
Show Author Affiliations
Jean-Paul Pinaud, Univ. of California, San Diego (United States)
Milenko Masic, Univ. of California, San Diego (United States)
Robert E. Skelton, Univ. of California, San Diego (United States)


Published in SPIE Proceedings Vol. 5049:
Smart Structures and Materials 2003: Modeling, Signal Processing, and Control
Ralph C. Smith, Editor(s)

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