Abstract
This paper presents Kinematics and Dynamics of a Shape-
Shifting Surface, a robotic system able to take on the shape of
arbitrary connected 3D surfaces. Such a surface, which we introduced
and described in previous work, consists of piecewise
controllable chains in turn composed of serially connected foldable
“robotic particles”. Aiming at a high resolution rendering,
where tiny particles need to be combined in a large number, a
tendon-driven design is a lightweight and scalable solution.
However, improper actuation strategies might expose the
system to undesired forces, which can compromise its integrity
and stability. To tackle this problem, optimal actuation and planning
strategies are required to anticipate unacceptable situations.
To this end, a dynamic model is derived to predict the reaction
of the system subject to control actions. Being the system
both tendon-driven and under-actuated, we have to overcome a
number of challenges in deriving this model.
Shifting Surface, a robotic system able to take on the shape of
arbitrary connected 3D surfaces. Such a surface, which we introduced
and described in previous work, consists of piecewise
controllable chains in turn composed of serially connected foldable
“robotic particles”. Aiming at a high resolution rendering,
where tiny particles need to be combined in a large number, a
tendon-driven design is a lightweight and scalable solution.
However, improper actuation strategies might expose the
system to undesired forces, which can compromise its integrity
and stability. To tackle this problem, optimal actuation and planning
strategies are required to anticipate unacceptable situations.
To this end, a dynamic model is derived to predict the reaction
of the system subject to control actions. Being the system
both tendon-driven and under-actuated, we have to overcome a
number of challenges in deriving this model.
| Original language | English |
|---|---|
| Title of host publication | ASME International Conference on Smart Materials, Adaptive Structures and Intelligent Systems |
| Publisher | American Society of Mechanical Engineers (ASME) |
| Publication status | Published - 2016 |
| Event | Conference on Smart Materials, Adaptive Structures and Intelligent Systems - Stowe Vermont, Stowe, United States Duration: 28 Sept 2016 → 30 Sept 2016 Conference number: 9 http://www.asmeconferences.org/SMASIS2016/ConfSpecInfo.cfm |
Conference
| Conference | Conference on Smart Materials, Adaptive Structures and Intelligent Systems |
|---|---|
| Abbreviated title | SMASIS |
| Country/Territory | United States |
| City | Stowe |
| Period | 28/09/16 → 30/09/16 |
| Internet address |
Keywords
- Programmable Matter
- Shape-Shifting Surface
- Modeling
- Dynamics