Name
Abstract | ||
|---|---|---|
In this paper, we present a lightweight, multi-axis compliant tensegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cables in a method inspired by muscular actuation in a person. Unlike many series elastic actuators, this joint is structurally compliant not just along each axis of rotation, but along other axes as well. Compliant robotic joints are indispensable in unpredictable environments, including ones where the robot must interface with a person. The joint also addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2016.7487187 | 2016 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
multiaxis compliant tensegrity joint,human elbow,tensegrity elbow,rotation axis,compliant robotic joints,functional redundancy,biologically accurate robotic models | Rotation,Elbow,Simulation,Tensegrity,Control engineering,Redundancy (engineering),Engineering,Robot,Actuator | Journal |
Volume | Issue | ISSN |
abs/1510.07595 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| steven lessard | 1 | 0 | 0.68 |
| Jonathan Bruce | 2 | 11 | 2.68 |
| Erik Jung | 3 | 0 | 1.01 |
| Mircea Teodorescu | 4 | 7 | 6.63 |
| Vytas SunSpiral | 5 | 36 | 7.03 |
| Adrian K. Agogino | 6 | 413 | 38.55 |