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


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

March 6, 2013
June 17, 2013
October 20, 2013
underwater robot, tensegrity structure, transformation, deformation
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:
M. Shibata, T. Miyamura, N. Sakagami, and S. Miyata, “Use of a Deformable Tensegrity Structure as an Underwater Robot Body,” J. Robot. Mechatron., Vol.25 No.5, pp. 804-811, 2013.
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