A BIOMIMETIC ROBOTIC SYSTEM WITH TENSEGRITY-BASED COMPLIANT MECHANISM

Po Yu Hsieh, June Hao Hou

研究成果: Conference contribution同行評審

摘要

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.

原文English
主出版物標題Accelerated Design - 29th International Conference on Computer-Aided Architectural Design Research in Asia, CAADRIA 2024
編輯Nicole Gardner, Christiane M. Herr, Likai Wang, Hirano Toshiki, Sumbul Ahmad Khan
發行者The Association for Computer-Aided Architectural Design Research in Asia
頁面131-140
頁數10
ISBN(列印)9789887891833
出版狀態Published - 2024
事件29th International Conference on Computer-Aided Architectural Design Research in Asia, CAADRIA 2024 - Singapore, Singapore
持續時間: 20 4月 202426 4月 2024

出版系列

名字Proceedings of the International Conference on Computer-Aided Architectural Design Research in Asia
3
ISSN(列印)2710-4257
ISSN(電子)2710-4265

Conference

Conference29th International Conference on Computer-Aided Architectural Design Research in Asia, CAADRIA 2024
國家/地區Singapore
城市Singapore
期間20/04/2426/04/24

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