Abstract
In this study, we present a tensegrity robot arm that can reproduce the features of complex musculoskeletal structures, and can bend like a continuum manipulator. In particular, we propose a design method for an arm-type tensegrity robot that has a long shape in one direction, and can be deformed like a continuum manipulator. This method is based on the idea of utilizing simple and flexible strict tensegrity modules, and connecting them recursively so that they remain strict tensegrity even after being connected. The tensegrity obtained by this method strongly resists compressive forces in the longitudinal direction, but is flexible in the bending direction. Therefore, the changes in stiffness owing to internal forces, such as in musculoskeletal robots, appear more in the bending direction. First, this study describes this design method, then describes a developed pneumatically driven tensegrity robot arm with 20 actuators. Next, the range of motion and stiffness under various driving patterns are presented as evaluations of the robot performance.
Highlights
As a feature of the biological body that is expected to be applied to robots, musculoskeletal system has garnered considerable attention in the literature
This study describes this design method, describes a developed pneumatically driven tensegrity robot arm with 20 actuators
For all the 1,024 desired pressure values, the posture of the developed tensegrity robot arm was measured after waiting for 5 s to reach the steady-state after input
Summary
As a feature of the biological body that is expected to be applied to robots, musculoskeletal system has garnered considerable attention in the literature. The musculoskeletal system is generally overdriven because muscles can only generate tension This means that some of the tension in a muscle is consumed as an internal force to balance the tension in other muscles. Several musculoskeletal robots have been developed to provide robots with functionalities, i.e., bio-inspired embodied intelligence (Pfeifer et al, 2007), generated by this redundancy. It is tough to realize the complex musculoskeletal robot that is practical and applicable for various tasks because several features are difficult to realize by engineering, such as multi-degree-offreedom joints, soft tissues, and their lubrication. To understand and apply bio-inspired embodied intelligence, which arises from the redundancy of the complex musculoskeletal system, it is necessary to take an approach that is not limited to mimicking the actual musculoskeletal system. As one of the approaches for this purpose, we leverage tensegrity in this study
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