テンセグリティ受動歩行ロボットの開発と基礎実験

抄録

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.