A method to generate stable, collision free configurations for tensegrity based robots

Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields, such as architecture, civil engineering, space and even biology. Such structures keep a stable volume in space due to an intricate balance of...

Full description

Saved in:
Bibliographic Details
Published in:2008 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3769 - 3774
Main Authors: Juan, S.H., Mirats Tur, J.M.
Format: Conference Proceeding
Language:English
Published: IEEE 01.09.2008
Subjects:
Bars
Collision avoidance
Distance measurement
Mathematical model
Optimization
Robots
Trajectory
ISBN:9781424420575, 1424420571
ISSN:2153-0858
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Abstract Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields, such as architecture, civil engineering, space and even biology. Such structures keep a stable volume in space due to an intricate balance of forces between a disjoint set of rigid elements (bars) and a continuous set of tensile elements (cables). The use of tensegrity structures in robotics is still new and there exist only a handful of works about this subject. Some of their main features such as light weight, flexibility, energetic efficiency and redundancy, make them interesting candidates for both mobile robots and manipulators. In this paper, a new method to detect and avoid both internal collisions between the structure members and external collisions with the environment is presented. In this way, we are providing a fundamental tool to develop more complete form-finding procedures and path-planning strategies for tensegrity structures.
AbstractList Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields, such as architecture, civil engineering, space and even biology. Such structures keep a stable volume in space due to an intricate balance of forces between a disjoint set of rigid elements (bars) and a continuous set of tensile elements (cables). The use of tensegrity structures in robotics is still new and there exist only a handful of works about this subject. Some of their main features such as light weight, flexibility, energetic efficiency and redundancy, make them interesting candidates for both mobile robots and manipulators. In this paper, a new method to detect and avoid both internal collisions between the structure members and external collisions with the environment is presented. In this way, we are providing a fundamental tool to develop more complete form-finding procedures and path-planning strategies for tensegrity structures.
Author Juan, S.H.
Mirats Tur, J.M.
Author_xml – sequence: 1
  givenname: S.H.
  surname: Juan
  fullname: Juan, S.H.
  organization: Inst. de Robot. i Inf. Ind. (IRI), CSIC-UPC, Barcelona
– sequence: 2
  givenname: J.M.
  surname: Mirats Tur
  fullname: Mirats Tur, J.M.
BookMark eNpVUMtqwzAQVGkCTdJ8QOlFH1CnK1myV8cQ-ggEAn1dg2SvUxfHKpJ6yN_Xobl0YRlmmRmGnbJR73ti7EbAQggw9-uX7etCAuBCFRoQxQWbmxKFkkpJ0Cgv__FSj9hECp1ngBrHbHqyGgCBxRWbx_gFwyidK6kn7GPJD5Q-fc2T53vqKdhEPCbrOrrjle-6Nra-500gGmjftPufQTKcIm984In6SPvQpiN3NlLNg3c-xWs2bmwXaX7GGXt_fHhbPWeb7dN6tdxklSwgZbWAhoTTBeQCnUaUJKxrbImFqVGaWkFuwNKw0oicrKLSFMJV7lQfTT5jt3-5LRHtvkN7sOG4O78p_wWSTFif
ContentType Conference Proceeding
DBID 6IE
6IH
CBEJK
RIE
RIO
DOI 10.1109/IROS.2008.4650881
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan (POP) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE/IET Electronic Library (IEL) (UW System Shared)
IEEE Proceedings Order Plans (POP) 1998-present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISBN 9781424420582
142442058X
EndPage 3774
ExternalDocumentID 4650881
Genre orig-research
GroupedDBID 6IE
6IF
6IH
6IL
6IN
AAJGR
AAWTH
ABLEC
ACGFS
ADZIZ
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
CHZPO
IEGSK
IJVOP
M43
OCL
RIE
RIL
RIO
RNS
ID FETCH-LOGICAL-c260t-d10fe1b560318b5882e1abfa7869d829d40390ae90a2913ea4e7961bcb5342893
IEDL.DBID RIE
ISBN 9781424420575
1424420571
ISICitedReferencesCount 6
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000259998202155&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 2153-0858
IngestDate Wed Aug 27 01:55:54 EDT 2025
IsDoiOpenAccess false
IsOpenAccess true
IsPeerReviewed false
IsScholarly true
LCCN 2008900186
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c260t-d10fe1b560318b5882e1abfa7869d829d40390ae90a2913ea4e7961bcb5342893
OpenAccessLink https://recercat.cat/handle/2072/194260
PageCount 6
ParticipantIDs ieee_primary_4650881
PublicationCentury 2000
PublicationDate 2008-Sept.
PublicationDateYYYYMMDD 2008-09-01
PublicationDate_xml – month: 09
  year: 2008
  text: 2008-Sept.
PublicationDecade 2000
PublicationTitle 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublicationTitleAbbrev IROS
PublicationYear 2008
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0000453425
ssj0001079896
Score 1.7492373
Snippet Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields,...
SourceID ieee
SourceType Publisher
StartPage 3769
SubjectTerms Bars
Collision avoidance
Distance measurement
Mathematical model
Optimization
Robots
Trajectory
Title A method to generate stable, collision free configurations for tensegrity based robots
URI https://ieeexplore.ieee.org/document/4650881
WOSCitedRecordID wos000259998202155&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwELZKxQALjxbxlgfGhtqJE9sjQlSwlIqXulV2cqkqoQalKb-fs5MUkFgYItkZ7Ohi6T7f3XcfIVeALoEnlgUsj6NAZHEcaIEjpay2ea4hMZkXm5DjsZpO9aRDBhsuDAD44jO4dkOfy8-KdO1CZUPh4QTedbakTGqu1iaegtAkajNKPr7CpFZengudWhQgslAtrytEjMLbdk_NPG4ynpzp4cPT43NdZdls-Et5xTue0d7_Pnmf9L8ZfHSy8U0HpAPLQ7L7o_lgj7zd0Fo-mlYFnfvu0xVQBIv2HQbUnQ9PO6d5CYDTZb6Yr-vjsqKIdKkrfYe5076jzhVmtCxsUa365HV093J7HzQqC0GKd5kqyDjLgdvYy03bGBE3cGNzI1WiMxXqTLBIMwP4hJpHYARInXCbWmdwhDtHpLsslnBMKDdagWHWGA5CRqGRBlcOIyNjw4URJ6TnLDT7qBtpzBrjnP79-ozstMUZjJ-TblWu4YJsp5_VYlVe-r__BVMmqLk
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1NS8MwGA5DBfXixyZ-m4PH1SVt0iZHEceGcw6dsttI1rdjIK10nb_fJG2nghcPhSSHtry88Dx5vx6ErsFAAg018UjCA4_FnHuSmZUQWuokkRCq2IlNRMOhmEzkqIHa614YAHDFZ3Bjly6XH2ezlQ2VdZijE-aus8kZ80nZrbWOqBhyEtQ5JRdhIZEUTqDLwFrgGW4h6s4u37AUWg98qva8ynlSIjv956eXss6y-uQv7RUHPd29__30Pmp99_Dh0RqdDlAD0kO0-2P8YBO93eJSQBoXGZ67-dMFYEMX9Tu0sfUQ13iOkxzAbNNkMV-VDrPEhutiW_wOc6t-hy0YxjjPdFYsW-i1ez--63mVzoI3M7eZwospSYBq7gSnNTecG6jSiYpEKGPhy5iRQBIF5vElDUAxiGRI9UxbgxvCc4Q20iyFY4SpkgIU0UpRYFHgq0iZN_uBiriiTLET1LQWmn6UozSmlXFO_z6-Qtu98eNgOugPH87QTl2qQeg52ijyFVygrdlnsVjml84TvgBPQ6wA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2008+IEEE%2FRSJ+International+Conference+on+Intelligent+Robots+and+Systems&rft.atitle=A+method+to+generate+stable%2C+collision+free+configurations+for+tensegrity+based+robots&rft.au=Juan%2C+S.H.&rft.au=Mirats+Tur%2C+J.M.&rft.date=2008-09-01&rft.pub=IEEE&rft.isbn=9781424420575&rft.issn=2153-0858&rft.spage=3769&rft.epage=3774&rft_id=info:doi/10.1109%2FIROS.2008.4650881&rft.externalDocID=4650881
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2153-0858&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2153-0858&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2153-0858&client=summon