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JRM Vol.25 No.5 pp. 804-811
doi: 10.20965/jrm.2013.p0804
(2013)

Paper:

Use of a Deformable Tensegrity Structure as an Underwater Robot Body

Mizuho Shibata*, Takahiro Miyamura*, Norimitsu Sakagami**,
and Shigeharu Miyata*

*Department of Robotics, Kinki University, 1 Takaya Umenobe, Higashi-Hiroshima City, Hiroshima 739-2116, Japan

**Department of Navigation and Ocean Engineering, Tokai University, 3-20-1 Orido, Shimizu-ku, Shizuoka 424-8610, Japan

Received:
March 6, 2013
Accepted:
June 17, 2013
Published:
October 20, 2013
Keywords:
underwater robot, tensegrity structure, transformation, deformation
Abstract

The locomotion of underwater robots depends on their shapes. Underwater robots for inspecting undersea structures must not only move long distances but must rotate during inspection. We propose using an underwater robot that moves translationally and rotationally by altering its shape. In this paper, we introduce a deformable twisted trigonal prism tensegrity structure as a robot and evaluate its use as an underwater robot through several simplified models and experimental results.

Cite this article as:
Mizuho Shibata, Takahiro Miyamura, Norimitsu Sakagami, and
and Shigeharu Miyata, “Use of a Deformable Tensegrity Structure as an Underwater Robot Body,” J. Robot. Mechatron., Vol.25, No.5, pp. 804-811, 2013.
Data files:
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  22. Supporting Online Materials:
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