Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure

Philipp Schorr, Valter Böhm, Lena Zentner, Klaus Zimmermann

2018

Abstract

The basic idea of this article is the utilization of the multistable character of a compliant tensegrity structure to control the direction of motion of a crawling motion system. A crawling motion system basing on a two-dimensional tensegrity structure with multiple stable equilibrium states is considered. This system is in contact with a horizontal plane due to gravity. For a selected harmonic actuation of the system small oscillations around the given equilibrium state of the tensegrity structure occur and the corresponding uniaxial motion of the system is evaluated. A change of the equilibrium state of the tensegrity structure yields to novel configuration of the entire system. Moreover, the motion behavior of the novel configuration is totally different although the actuation strategy is not varied. In particular, the direction of motion changes. Therefore, this approach enables a uniaxial bidirectional crawling motion with a controllable direction of motion using only one actuator with a selected excitation frequency.

Paper Citation

in Harvard Style

Schorr P., Böhm V., Zentner L. and Zimmermann K. (2018). Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 122-130. DOI: 10.5220/0006852701220130

in Bibtex Style

@conference{icinco18,
author={Philipp Schorr and Valter Böhm and Lena Zentner and Klaus Zimmermann},
title={Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={122-130},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006852701220130},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Dynamical Investigation of Crawling Motion System based on a Multistable Tensegrity Structure
SN - 978-989-758-321-6
AU - Schorr P.
AU - Böhm V.
AU - Zentner L.
AU - Zimmermann K.
PY - 2018
SP - 122
EP - 130
DO - 10.5220/0006852701220130