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Linearization-Based Forward Kinematic Algorithm for Tensegrity Structures with Compressible Struts

Conference paper
Part of the Smart Innovation, Systems and Technologies book series (SIST, volume 187)

Abstract

This paper presents a new local linearization method for elastic forces in tensegrity structures, which can be used to solve forward kinematic problems. Forward kinematic problems are often solved as a part of inverse kinematic algorithms and trajectory planning in robotics, and it is often desirable to be able to perform those algorithms online. The proposed method allows us to solve forward kinematics as a quadratic program, which makes it fast and reliable and allows us to take advantage of the existing convex programming software. The paper demonstrates the work of the proposed method using a three-link tensegrity structure.

Keywords

Tensegrity Soft robotics Forward kinematics Numeric optimization Convex programming Local linearization 

Notes

Acknowledgements

The research is supported by the grant of the Russian Science Foundation (project No:19-79-10246).

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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021

Authors and Affiliations

  1. 1.Innopolis UniversityInnopolisRussia

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