@inproceedings{abfdfad0240241c38f99c6afbf745b0a,
title = "A model of caterpillar locomotion based on Assur tensegrity structures",
abstract = "This paper presents an ongoing project aiming at building a robot composed of Assur tensegrity structures, which mimics caterpillar locomotion. Caterpillars are soft-bodied animals capable of making complex movements with astonishing fault-tolerance. In our model, each caterpillar segment is represented by a 2D tensegrity triad consisting of two bars connected by two cables and a strut. The cables represent the major longitudinal muscles of the caterpillar, while the strut represents hydrostatic pressure. The control scheme in this model is divided into localized low-level controllers and a high-level control unit. The unique engineering properties of Assur tensegrity structures, which were mathematically proved last year, together with the suggested control algorithm provide the model with robotic softness. Moreover, the degree of softness can be continuously changed during simulation, making this model suitable for simulation of soft-bodied caterpillars as well as other types of soft animals.",
author = "Orki Omer and Shai Offer and Ayali Amir and Uri, \{Ben Hanan\}",
year = "2011",
doi = "10.1115/DETC2011-47708",
language = "الإنجليزيّة",
isbn = "9780791854839",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "739--745",
booktitle = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011",
edition = "PARTS A AND B",
note = "ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 ; Conference date: 28-08-2011 Through 31-08-2011",
}