Path planning for active tensegrity structures

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• 作者：Josep M. Porta ; ^{porta@iri.upc.edu" class="auth_mail" title="E-mail the corresponding author} ; Sergi Herná ; ndez-Juan
• 关键词：Tensegrity structures ; Path planning ; Differential geometry ; Higher-dimensional continuation
• 刊名：International Journal of Solids and Structures
• 出版年：2016
• 出版时间：1 January 2016
• 年：2016
• 卷：78-79
• 期：Complete
• 页码：47-56
• 全文大小：1930 K

文摘

This 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.