The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 2P3-G05
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Development and Basic Experiments of Tensegrity Passive Walking Robot
Yanqiu ZHENG*Yuetong HEFumihiko ASANO
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Abstract

This paper mainly demonstrate the modeling and experiment of tensegrity robot and realize passive walking gait and analyze it also. First, we combined tensegrity and rimless wheel model to build the simplest tensegrity robot model, and carried out system modeling analysis on it, mainly considering single-leg support and double-leg support. Secondly, the tension elements were simulated to analyze the influence of the elastic forces and other elements. Finally, the theoretical results were verified with the physical prototype.

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© 2021 The Japan Society of Mechanical Engineers
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