Symmetric reduction of tensegrity rover dynamics for efficient data-driven control

David Surovik, Kostas E. Bekris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Tensegrity robots consist of disconnected rods suspended within a network of length-Actuated cables, which gives them a high degree of compliance and adaptability suitable for traversing rugged terrain. These vehicles, however, undergo complex contact dynamics that prevent the use of traditional control techniques based on mathematical analyses of equations of motion. Data-driven approaches are thus an appropriate choice for controller design but are themselves hindered by the high number of degrees of freedom and correspondingly large state spaces. This paper presents a scheme for exploiting the 24th-order symmetry of an icosahedral tensegrity robot to vastly reduce the breadth of the controller input space without loss of information. Symmetry properties and state-space reduction operations are detailed and placed in the context of a data-driven control pipeline. Results are illustrated by comparing the input and output of a locomotive controller in both raw and symmetry-reduced dynamical spaces. The findings suggest a strong relief of the data requirements for training locomotive controllers.

Original languageEnglish (US)
Title of host publicationEarth and Space 2018
Subtitle of host publicationEngineering for Extreme Environments - Proceedings of the 16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments
EditorsRamesh B. Malla, Robert K. Goldberg, Alaina Dickason Roberts
PublisherAmerican Society of Civil Engineers (ASCE)
Pages877-887
Number of pages11
ISBN (Electronic)9780784481899
DOIs
StatePublished - 2018
Event16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Earth and Space 2018 - Cleveland, United States
Duration: Apr 9 2018Apr 12 2018

Publication series

NameEarth and Space 2018: Engineering for Extreme Environments - Proceedings of the 16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments

Conference

Conference16th Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Earth and Space 2018
Country/TerritoryUnited States
CityCleveland
Period4/9/184/12/18

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Building and Construction
  • Environmental Engineering

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