| id |
caadria2024_76 |
| authors |
Hsieh, Po-Yu and Hou, June-Hao |
| year |
2024 |
| title |
A Biomimetic Robotic System With Tensegrity-Based Compliant Mechanism |
| doi |
https://doi.org/10.52842/conf.caadria.2024.3.131
|
| source |
Nicole Gardner, Christiane M. Herr, Likai Wang, Hirano Toshiki, Sumbul Ahmad Khan (eds.), ACCELERATED DESIGN - Proceedings of the 29th CAADRIA Conference, Singapore, 20-26 April 2024, Volume 3, pp. 131–140 |
| summary |
Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in fabrication, however, has posed technical challenges and mechanical complexity, thereby underscoring a noticeable gap between research and practice. To address the limitation, the research draws inspiration from the unique musculoskeletal feature of vertebrate physiology, which displays significant capabilities for sophisticated locomotion. The research converts the biological paradigm into a tensegrity-based robotic system, which is formed by the design of rigid-flex coupling and a compliant mechanism. This integrated technique enables the robot to achieve a wide range of motions with variable stiffness and adaptability, holding great potential for advanced performance in ill-defined environments. In summation, the research aims to provide a robust foundation for tensegrity-based biomimetic robots in practice, enhancing the feasibility of undertaking intricate robotic constructions. |
| keywords |
Biomimetic, Adaptive Robot, Tensegrity, Compliant Mechanism, Rigid-Flex Coupling |
| series |
CAADRIA |
| email |
kevinhsieh870118@arch.nycu.edu.tw |
| full text |
 file.pdf (3,656,590 bytes) |
| references |
Content-type: text/plain
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| last changed |
2024/11/17 22:05 |
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