LCRBot: Load-Carrying Rolling Robot Based on Truncated Hexahedral Tensegrity

IF 5.2 2区计算机科学 Q2 ROBOTICS

Journal of Field Robotics Pub Date : 2025-02-11 DOI:10.1002/rob.22527

Jilei Liu, Zhiyin Xu, Jinyu Lu, Xun Gu, Jiarong Wu

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引用次数: 0

Abstract

The tensegrity robot consists of rigid compression bars and elastic tension cables, offering several advantages over traditional load-carrying robots, including impact resistance, lightweight design, unique movement patterns, and modularity. However, research on tensegrity robots capable of carrying loads and rolling is very limited. This paper proposes a load-carrying and rolling tensegrity robot (LCRBot) based on truncated hexahedral tensegrity structure, which offers ample load-carrying space and the ability to perform rolling. LCRBot can achieve active deformation by elongating and shortening its internal bars. The gait control strategies of LCRBot under different numbers of actuators and rolling directions, as well as variations in different environments are investigated. The MATLAB-based dynamic model of LCRBot is proposed and its simulation results of basic gait are consistent with the experiment. The proposed LCRBot showcases its potential for carrying sensors, power sources, and other equipment during rolling motions, making it highly valuable for research.

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LCRBot：基于截断六面体张拉整体的承载滚动机器人

张拉整体机器人由刚性压缩杆和弹性张力电缆组成，与传统的承载机器人相比，具有许多优点，包括抗冲击、轻量化设计、独特的运动模式和模块化。然而，对能够承载和滚动的张拉整体机器人的研究非常有限。本文提出了一种基于截断六面体张拉整体结构的承载和滚动张拉整体机器人（LCRBot），该机器人具有足够的承载空间和滚动能力。LCRBot可以通过拉长和缩短其内杆来实现主动变形。研究了不同作动器数量和滚动方向下LCRBot的步态控制策略，以及不同环境下步态控制策略的变化。基于matlab建立了LCRBot的动力学模型，其基本步态仿真结果与实验结果吻合较好。拟议中的LCRBot展示了其在滚动运动中携带传感器，电源和其他设备的潜力，使其具有很高的研究价值。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Field Robotics 工程技术-机器人学

CiteScore

15.00

自引率

3.60%

发文量

审稿时长

6 months

期刊介绍： The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.