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Path planning for active tensegrity structures

AutorPorta, Josep M.; Hernàndez, Sergi
Palabras claveHigher-dimensional continuation
Path planning
Differential geometry
Tensegrity structures
Fecha de publicación2016
CitaciónInternational Journal of Solids and Structures 78-79: 47-56 (2016)
ResumenThis paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of kinematic and static constraints. The exploration of this manifold is difficult with standard methods due to the lack of a global parameterization. Thus, this paper proposes the use of techniques with roots in differential geometry to define an atlas, i.e., a set of coordinated local parameterizations of the equilibrium manifold. This atlas is exploited to define a rapidly-exploring random tree, which efficiently finds valid paths between configurations. However, these paths are typically long and jerky and, therefore, this paper also introduces a procedure to reduce their control effort. A variety of test cases are presented to empirically evaluate the proposed method.
Versión del editorhttp://dx.doi.org/10.1016/j.ijsolstr.2015.09.018
Identificadoresdoi: 10.1016/j.ijsolstr.2015.09.018
issn: 0020-7683
Aparece en las colecciones: (IRII) Artículos
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