Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck

  • Benjamin Fasquelle
  • Matthieu Furet
  • Christine Chevallereau
  • Philippe Wenger
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper studies a tensegrity manipulator mimicking a bird neck. This manipulator is built upon assembling several X-shape one-dof tensegrity mechanisms in series. A methodology is proposed to derive the dynamic model using Lagrange’s equations. The dynamic model is used to design a dynamic control law. This control law is applied to a backward-and-forward motion between an S-shape rest equilibrium configuration and a straight configuration of the neck manipulator. Simulation results show a much better tracking as compared with a classical PD control.


Tensegrity bird neck model dynamic control 


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This work was conducted with the support of the French National Research Agency (AVINECK Project ANR-16-CE33-0025).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Benjamin Fasquelle
    • 1
  • Matthieu Furet
    • 1
  • Christine Chevallereau
    • 1
  • Philippe Wenger
    • 1
  1. 1.Laboratoire des Sciences du Numérique de Nantes (LS2N)CNRS, Ecole centrale de NantesNantesFrance

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