The Experts below are selected from a list of 30162 Experts worldwide ranked by ideXlab platform
Klaus Zimmermann - One of the best experts on this subject based on the ideXlab platform.
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Kinematic analysis of a rolling tensegrity structure with spatially curved members
2020Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Valter BöhmAbstract:In this work, a tensegrity structure with spatially curved members is applied as rolling Locomotion System. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the Locomotion System a reliable actuation strategy is required. Therefore, the kinematics of the System considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the Locomotion behavior a feasible actuation strategy is designed to control the trajectory of the System. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this System enables a two-dimensional rolling Locomotion.
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indoor Locomotion experiments of a spherical mobile robot based on a tensegrity structure with curved compressed members
2017Co-Authors: Tobias Kaufhold, Valter Böhm, Florian Schale, Klaus ZimmermannAbstract:This work presents theoretical and experimental investigations on an untethered rolling tensegrity robot. Previous research has shown, that rolling Locomotion of compliant tensegrity robots can be realized without change of their shape, by using only internal mass shifting. The use of simple tensegrity structures, based on curved compressed members enables pure rolling Locomotion in contrast to the most known prototypes of this kind. Therefore, theoretical and experimental investigations of an untethered Locomotion System based on a simple tensegrity structure, consisting of two disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, are considered. Planar Locomotion is induced by the movement of only two drive units as internal masses along the curved compressed members. Theoretical considerations show the influence of the geometrical System parameters on the movement behavior of the System. With the help of experimental investigations, by using motion-capturing technique, main properties of the Locomotion performance of a prototype are discussed.
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spherical mobile robot based on a tensegrity structure with curved compressed members
2016Co-Authors: Valter Böhm, Tobias Kaufhold, Florian Schale, Klaus ZimmermannAbstract:The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic. This paper describes a new concept for rolling Locomotion of mobile robots based on tensegrity structures. In particular, an untethered Locomotion System based on a simple tensegrity structure, consisting of two rigid disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, is considered. The Locomotion is induced by the movement of two internal masses. The working principle of the System is discussed with the help of kinematic considerations and verified with experimental tests.
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design of a miniaturized Locomotion System with variable mechanical compliance based on amoeboid movement
2012Co-Authors: Tobias Kaufhold, V Bohm, Klaus ZimmermannAbstract:This paper describes a novel biologically inspired Locomotion System. The main advantages of amoeboid movement are implemented in a magnetically actuated compliant vibration driven System. The Locomotion of the System is based on the periodic deformation of an elastomeric structure including segments with reversible variable mechanical compliance. The movement direction is defined by an asymmetric configuration of the elastomeric structure induced by segments with differing mechanical compliance. The working principle of the System is discussed with the help of modal and transient dynamic analyses. Based on the numerical simulations, two prototypes are developed and verified with experimental tests.
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Jumping Locomotion System based on a multistable tensegrity structure
2024Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Valter BöhmAbstract:Abstract All known Locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion Systems. For such circumstances, a controllable jumping Locomotion is required to cross these barriers. However, this Locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure.
Valter Böhm - One of the best experts on this subject based on the ideXlab platform.
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Kinematic analysis of a rolling tensegrity structure with spatially curved members
2020Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Valter BöhmAbstract:In this work, a tensegrity structure with spatially curved members is applied as rolling Locomotion System. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the Locomotion System a reliable actuation strategy is required. Therefore, the kinematics of the System considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the Locomotion behavior a feasible actuation strategy is designed to control the trajectory of the System. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this System enables a two-dimensional rolling Locomotion.
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indoor Locomotion experiments of a spherical mobile robot based on a tensegrity structure with curved compressed members
2017Co-Authors: Tobias Kaufhold, Valter Böhm, Florian Schale, Klaus ZimmermannAbstract:This work presents theoretical and experimental investigations on an untethered rolling tensegrity robot. Previous research has shown, that rolling Locomotion of compliant tensegrity robots can be realized without change of their shape, by using only internal mass shifting. The use of simple tensegrity structures, based on curved compressed members enables pure rolling Locomotion in contrast to the most known prototypes of this kind. Therefore, theoretical and experimental investigations of an untethered Locomotion System based on a simple tensegrity structure, consisting of two disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, are considered. Planar Locomotion is induced by the movement of only two drive units as internal masses along the curved compressed members. Theoretical considerations show the influence of the geometrical System parameters on the movement behavior of the System. With the help of experimental investigations, by using motion-capturing technique, main properties of the Locomotion performance of a prototype are discussed.
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spherical mobile robot based on a tensegrity structure with curved compressed members
2016Co-Authors: Valter Böhm, Tobias Kaufhold, Florian Schale, Klaus ZimmermannAbstract:The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic. This paper describes a new concept for rolling Locomotion of mobile robots based on tensegrity structures. In particular, an untethered Locomotion System based on a simple tensegrity structure, consisting of two rigid disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, is considered. The Locomotion is induced by the movement of two internal masses. The working principle of the System is discussed with the help of kinematic considerations and verified with experimental tests.
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Jumping Locomotion System based on a multistable tensegrity structure
2024Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Valter BöhmAbstract:Abstract All known Locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion Systems. For such circumstances, a controllable jumping Locomotion is required to cross these barriers. However, this Locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure.
Tobias Kaufhold - One of the best experts on this subject based on the ideXlab platform.
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Kinematic analysis of a rolling tensegrity structure with spatially curved members
2020Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Valter BöhmAbstract:In this work, a tensegrity structure with spatially curved members is applied as rolling Locomotion System. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the Locomotion System a reliable actuation strategy is required. Therefore, the kinematics of the System considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the Locomotion behavior a feasible actuation strategy is designed to control the trajectory of the System. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this System enables a two-dimensional rolling Locomotion.
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indoor Locomotion experiments of a spherical mobile robot based on a tensegrity structure with curved compressed members
2017Co-Authors: Tobias Kaufhold, Valter Böhm, Florian Schale, Klaus ZimmermannAbstract:This work presents theoretical and experimental investigations on an untethered rolling tensegrity robot. Previous research has shown, that rolling Locomotion of compliant tensegrity robots can be realized without change of their shape, by using only internal mass shifting. The use of simple tensegrity structures, based on curved compressed members enables pure rolling Locomotion in contrast to the most known prototypes of this kind. Therefore, theoretical and experimental investigations of an untethered Locomotion System based on a simple tensegrity structure, consisting of two disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, are considered. Planar Locomotion is induced by the movement of only two drive units as internal masses along the curved compressed members. Theoretical considerations show the influence of the geometrical System parameters on the movement behavior of the System. With the help of experimental investigations, by using motion-capturing technique, main properties of the Locomotion performance of a prototype are discussed.
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spherical mobile robot based on a tensegrity structure with curved compressed members
2016Co-Authors: Valter Böhm, Tobias Kaufhold, Florian Schale, Klaus ZimmermannAbstract:The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic. This paper describes a new concept for rolling Locomotion of mobile robots based on tensegrity structures. In particular, an untethered Locomotion System based on a simple tensegrity structure, consisting of two rigid disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, is considered. The Locomotion is induced by the movement of two internal masses. The working principle of the System is discussed with the help of kinematic considerations and verified with experimental tests.
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design of a miniaturized Locomotion System with variable mechanical compliance based on amoeboid movement
2012Co-Authors: Tobias Kaufhold, V Bohm, Klaus ZimmermannAbstract:This paper describes a novel biologically inspired Locomotion System. The main advantages of amoeboid movement are implemented in a magnetically actuated compliant vibration driven System. The Locomotion of the System is based on the periodic deformation of an elastomeric structure including segments with reversible variable mechanical compliance. The movement direction is defined by an asymmetric configuration of the elastomeric structure induced by segments with differing mechanical compliance. The working principle of the System is discussed with the help of modal and transient dynamic analyses. Based on the numerical simulations, two prototypes are developed and verified with experimental tests.
Philipp Schorr - One of the best experts on this subject based on the ideXlab platform.
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Kinematic analysis of a rolling tensegrity structure with spatially curved members
2020Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Valter BöhmAbstract:In this work, a tensegrity structure with spatially curved members is applied as rolling Locomotion System. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the Locomotion System a reliable actuation strategy is required. Therefore, the kinematics of the System considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the Locomotion behavior a feasible actuation strategy is designed to control the trajectory of the System. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this System enables a two-dimensional rolling Locomotion.
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Jumping Locomotion System based on a multistable tensegrity structure
2024Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Valter BöhmAbstract:Abstract All known Locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion Systems. For such circumstances, a controllable jumping Locomotion is required to cross these barriers. However, this Locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure.
Lena Zentner - One of the best experts on this subject based on the ideXlab platform.
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Kinematic analysis of a rolling tensegrity structure with spatially curved members
2020Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodríguez Hernández, Valter BöhmAbstract:In this work, a tensegrity structure with spatially curved members is applied as rolling Locomotion System. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the Locomotion System a reliable actuation strategy is required. Therefore, the kinematics of the System considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the Locomotion behavior a feasible actuation strategy is designed to control the trajectory of the System. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this System enables a two-dimensional rolling Locomotion.
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Jumping Locomotion System based on a multistable tensegrity structure
2024Co-Authors: Philipp Schorr, Lena Zentner, Klaus Zimmermann, Valter BöhmAbstract:Abstract All known Locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion Systems. For such circumstances, a controllable jumping Locomotion is required to cross these barriers. However, this Locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure.
