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The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

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MLA
Sabelhaus, Andrew P., et al. “System Design and Locomotion of SUPERball, an Untethered Tensegrity Robot.” 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 2015, pp. 2867–73, doi:10.1109/ICRA.2015.7139590.
APA
Sabelhaus, A. P., Bruce, J., Caluwaerts, K., Manovi, P., Firoozi, R. F., Dobi, S., … SunSpira, V. (2015). System design and locomotion of SUPERball, an untethered tensegrity robot. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2867–2873. https://doi.org/10.1109/ICRA.2015.7139590
Chicago author-date
Sabelhaus, Andrew P, Jonathan Bruce, Ken Caluwaerts, Pavlo Manovi, Roya Fallah Firoozi, Sarah Dobi, Alice M. Agogino, and Vytas SunSpira. 2015. “System Design and Locomotion of SUPERball, an Untethered Tensegrity Robot.” In 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2867–73. IEEE. https://doi.org/10.1109/ICRA.2015.7139590.
Chicago author-date (all authors)
Sabelhaus, Andrew P, Jonathan Bruce, Ken Caluwaerts, Pavlo Manovi, Roya Fallah Firoozi, Sarah Dobi, Alice M. Agogino, and Vytas SunSpira. 2015. “System Design and Locomotion of SUPERball, an Untethered Tensegrity Robot.” In 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2867–2873. IEEE. doi:10.1109/ICRA.2015.7139590.
Vancouver
1.
Sabelhaus AP, Bruce J, Caluwaerts K, Manovi P, Firoozi RF, Dobi S, et al. System design and locomotion of SUPERball, an untethered tensegrity robot. In: 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). IEEE; 2015. p. 2867–73.
IEEE
[1]
A. P. Sabelhaus et al., “System design and locomotion of SUPERball, an untethered tensegrity robot,” in 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), Seattle, Washington, USA, 2015, pp. 2867–2873.
@inproceedings{8029984,
  abstract     = {{The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.}},
  author       = {{Sabelhaus, Andrew P and Bruce, Jonathan and Caluwaerts, Ken and Manovi, Pavlo and Firoozi, Roya Fallah and Dobi, Sarah and Agogino, Alice M. and SunSpira, Vytas}},
  booktitle    = {{2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)}},
  isbn         = {{9781479969234}},
  issn         = {{1050-4729}},
  language     = {{eng}},
  location     = {{Seattle, Washington, USA}},
  pages        = {{2867--2873}},
  publisher    = {{IEEE}},
  title        = {{System design and locomotion of SUPERball, an untethered tensegrity robot}},
  url          = {{http://doi.org/10.1109/ICRA.2015.7139590}},
  year         = {{2015}},
}

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