可変剛性準ダイレクトドライブケーブル駆動テンセグリティロボットの設計
Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot
伸縮性と堅牢性に優れるテンセグリティロボットに、外力センサ不要で固有受容覚を得られる準ダイレクトドライブケーブルアクチュエータを導入し、剛性を最大7倍まで調整可能にしたモジュール設計を提案・実験検証した。
著者: Jonathan Mi, Wenzhe Tong, Yilin Ma, Xiaonan Huang
分類: cs.RO
原文アブストラクト
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. In this paper, we present the design, fabrication, assembly, and experimental results of the robot. Experimental data demonstrates the high accuracy cable length estimation (<1% error relative to bar length) and variable stiffness control of the cable actuator up to 7 times the minimum stiffness for self support. The presented tensegrity robot serves as a platform for future advancements in autonomous operation and open-source module design.
