Use of a Deformable Tensegrity Structure as an Underwater Robot Body | Zendy

Mizuho Shibata | Zendy; Takahiro Miyamura | Zendy; Norimitsu Sakagami | Zendy; Shigeharu Miyata | Zendy

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Use of a Deformable Tensegrity Structure as an Underwater Robot Body

Author(s) -

Mizuho Shibata,

Takahiro Miyamura,

Norimitsu Sakagami,

Shigeharu Miyata

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0804

Subject(s) - tensegrity , underwater , robot , computer science , prism , artificial intelligence , computer vision , engineering , physics , geology , structural engineering , optics , oceanography

The locomotion of underwater robots depends on their shapes. Underwater robots for inspecting undersea structures must not only move long distances but must rotate during inspection. We propose using an underwater robot that moves translationally and rotationally by altering its shape. In this paper, we introduce a deformable twisted trigonal prism tensegrity structure as a robot and evaluate its use as an underwater robot through several simplified models and experimental results.

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