Abstract
In this paper we present algorithms, devices, simulations, and experiments concerning a robot that locomotes using novel compliant, sheet-based, shape memory alloy actuators. Specifically, we describe the theory and practical implementation of a provably correct algorithm capable of generating locomotion gaits in closed-loop linkages. We implement this algorithm in a distributed fashion on the HexRoller, a closed-chain robot with six low-stiffness actuators. We describe these actuators in detail and characterize their performance along with that of the robot.
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Gilpin, K., Torres-Jara, E., Rus, D. (2014). Controlling Closed-Chain Robots with Compliant SMA Actuators: Algorithms and Experiments. In: Khatib, O., Kumar, V., Sukhatme, G. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 79. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28572-1_11
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DOI: https://doi.org/10.1007/978-3-642-28572-1_11
Publisher Name: Springer, Berlin, Heidelberg
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