Proceedings Paper
Path planning for the deployment of tensegrity structures| Format | Member Price | Non-Member Price |
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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
Published in SPIE Proceedings Vol. 5049:
Smart Structures and Materials 2003: Modeling, Signal Processing, and Control
Ralph C. Smith, Editor(s)
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)
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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