Optimal design and comparative study of two antagonistically actuated tensegrity joints
This paper proposes design strategies and a comparative study of two antagonistically
actuated tensegrity joints: a revolute (R) joint and an anti-parallelogram (X) joint …
actuated tensegrity joints: a revolute (R) joint and an anti-parallelogram (X) joint …
Identification and control of a 3-X cable-driven manipulator inspired from the bird's neck
B Fasquelle, P Khanna… - Journal of …, 2022 - asmedigitalcollection.asme.org
This paper is devoted to the control and identification of a manipulator with three anti-
parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree …
parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree …
A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints
This paper proposes a new kind of light-weight manipulators suitable for safe interactions.
The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints …
The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints …
Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator
A planar tensegrity manipulator made of two X-mechanisms in series is studied in this paper.
Contrary to a classical 2-R linkage, the proposed architecture does not contain elements …
Contrary to a classical 2-R linkage, the proposed architecture does not contain elements …
Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck
This paper studies a tensegrity manipulator mimicking a bird neck. This manipulator is built
upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology …
upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology …
Comparison analysis of tendon-driven manipulators based on their wrench feasible workspace
This paper focuses on planar manipulators built upon stacking a series of tensegrity X-joints.
The manipulators are actuated with four tendons, have different numbers of modules, with or …
The manipulators are actuated with four tendons, have different numbers of modules, with or …
A new inspection robot for pipelines with bends and junctions
The application of robots for the inspection of pipelines are of greater significance in
industries such as nuclear, chemical and sewage. The major problem in the design of these …
industries such as nuclear, chemical and sewage. The major problem in the design of these …
Control analysis of an underactuated bio-inspired robot
This article is devoted to the control of bio-inspired robots that are underactuated. These
robots are composed of tensegrity joints remotely actuated with cables, which mimic the …
robots are composed of tensegrity joints remotely actuated with cables, which mimic the …
A trajectory tracking method based on robust model predictive control for a bionic ankle–foot aided by a tensegrity mechanism
ZB Sun, TT Heng, LM Zhao, SS Liu… - Engineering …, 2024 - Taylor & Francis
In this article, a robust model predictive control method is investigated for settling the
trajectory tracking problem of a bionic ankle–foot aided by a tensegrity mechanism. In order …
trajectory tracking problem of a bionic ankle–foot aided by a tensegrity mechanism. In order …
Comparison analysis of bio-inspired tendon-driven manipulators based on their tension-feasible workspace
Bio-inspiration can be used in the development of novel dextrous and energy-efficient
manipulators. This paper focuses on planar manipulators inspired by the bird neck, built …
manipulators. This paper focuses on planar manipulators inspired by the bird neck, built …