Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots

27 Aug 2017  ·  Chen Lee-Huang, Cera Brian, Zhu Edward L., Edmunds Riley, Rice Franklin, Bronars Antonia, Tang Ellande, Malekshahi Saunon R., Romero Osvaldo, Agogino Adrian K., Agogino Alice M. ·

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates robust climbing on inclined surfaces in hardware experiments and speeds significantly faster than previous spherical tensegrity models... This robot is an improvement over other iterations in the TT-series and the first tensegrity to achieve reliable locomotion on inclined surfaces of up to 24\degree. We analyze locomotion in simulation and hardware under single and multi-cable actuation, and introduce two novel multi-cable actuation policies, suited for steep incline climbing and speed, respectively. We propose compelling justifications for the increased dynamic ability of the robot and motivate development of optimization algorithms able to take advantage of the robot's increased control authority. read more

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