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Conference Papers Year : 2019

Modelling, design and control of a bird neck using tensegrity mechanisms

Abstract

In birds, the neck exhibits remarkable performances and serves as a dextrous arm for performing various tasks. Accordingly, it is an interesting bioinspiration for designing new manipulators with enhanced performances. This paper proposes a preliminary bird neck model using several stacked tensegrity crossed bar mechanisms. It addresses several issues regarding kinetostatic and dynamic modelling, design and control.
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Dates and versions

hal-02355070 , version 1 (08-11-2019)

Identifiers

  • HAL Id : hal-02355070 , version 1

Cite

A. Abourachid, C Böhmer, Philippe Wenger, Damien Chablat, Christine Chevallereau, et al.. Modelling, design and control of a bird neck using tensegrity mechanisms. ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada. ⟨hal-02355070⟩
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