Path planning for active tensegrity structures
Journal Article (2016)
International Journal of Solids and Structures
This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of kinematic and static constraints. The exploration of this manifold is difficult with standard methods due to the lack of a global parameterization. Thus, this paper proposes the use of techniques with roots in differential geometry to define an atlas, i.e., a set of coordinated local parameterizations of the equilibrium manifold. This atlas is exploited to define a rapidly-exploring random tree, which efficiently finds valid paths between configurations. However, these paths are typically long and jerky and, therefore, this paper also introduces a procedure to reduce their control effort. A variety of test cases are presented to empirically evaluate the proposed method.
tensegrity structures, path planning, differential geometry, higher-dimensional continuation
J.M. Porta and S. Hernández. Path planning for active tensegrity structures. International Journal of Solids and Structures, 78: 47-56, 2016.