DocumentCode :
137931
Title :
Flop and roll: Learning robust goal-directed locomotion for a Tensegrity Robot
Author :
Iscen, Atil ; Agogino, Adrian ; SunSpiral, Vytas ; Tumer, Kagan
Author_Institution :
Electr. Eng. & Comput. Sci. Dept., Oregon State Univ., Corvallis, OR, USA
fYear :
2014
fDate :
14-18 Sept. 2014
Firstpage :
2236
Lastpage :
2243
Abstract :
Tensegrity robots are composed of compression elements (rods) that are connected via a network of tension elements (cables). Tensegrity robots provide many advantages over standard robots, such as compliance, robustness, and flexibility. Moreover, sphere-shaped tensegrity robots can provide non-traditional modes of locomotion, such as rolling. While they have advantageous physical properties, tensegrity robots are hard to control because of their nonlinear dynamics and oscillatory nature. In this paper, we present a robust, distributed, and directional rolling algorithm, “flop and roll”. The algorithm uses coevolution and exploits the distributed nature and symmetry of the tensegrity structure. We validate this algorithm using the NASA Tensegrity Robotics Toolkit (NTRT) simulator, as well as the highly accurate model of the physical SUPERBall being developped under the NASA Innovative and Advanced Concepts (NIAC) program. Flop and roll improves upon previous approaches in that it provides rolling to a desired location. It is also robust to both unexpected external forces and partial hardware failures. Additionally, it handles variable terrain (hills up to 33% grade). Finally, results are compatible with the hardware since the algorithm relies on realistic sensing and actuation capabilities of the SUPERBall.
Keywords :
mobile robots; robust control; NASA tensegrity robotics toolkit simulator; NTRT simulator; flop and roll algorithm; nonlinear dynamics; oscillatory nature; robust distributed directional rolling algorithm; robust goal-directed locomotion; sphere-shaped tensegrity robots; Force; Muscles; NASA; Robot kinematics; Robot sensing systems; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
Type :
conf
DOI :
10.1109/IROS.2014.6942864
Filename :
6942864
Link To Document :
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