Files

Action Filename Description Size Access License Resource Version
Show more files...

Abstract

Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current robotic spine systems do not display robustness or cannot adjust their stiffness according to their task. In this paper, we describe a novel variable-stiffness tensegrity spine, which uses an active mechanism to add or remove a ball-joint constrain among the vertebrae, allowing transition among different stiffness modes: soft mode, global stiff mode, and directional stiff mode. We validate the variable-stiffness properties of the tensegrity spine in experimental bending tests and compare results to a model. Finally, we demonstrate the tensegrity spine system as a continuous variable-stiffness manipulator and highlight its advantages over current systems.

Details

Actions

Preview