自动化学报2026，Vol.52Issue(5)：942-952,11.DOI:10.16383/j.aas.c250529
结构仿生六杆张拉整体机器人折叠控制的形态智能方法
A Morphological-intelligence Approach to Folding Control of a Structurally Bioinspired Six-bar Tensegrity Robot
摘要
Abstract
Morphological intelligence refers to leveraging a robot's physical body——Its physical properties,geo-metric structure,and dynamic characteristics——To offload computation(e.g.,controller design)and enhance en-vironmental adaptability;It is a core mechanism of embodied intelligence.This paper targets complete folding of a six-bar tensegrity robot and develops a morphology-driven simplified control method that achieves whole-body equi-valent folding under partial cable actuation.A folding objective based on endpoint aggregation is first formulated;symmetry analysis then enumerates four folding patterns together with their associated cable-length variations.A graph-theoretic cycle-space analysis is employed to identify redundancy in length changes induced by geometric coupling,from which the actuated-cable set during folding is determined.Within a static framework,the mapping from motor inputs to cable-length variations is established and a reachability criterion is provided,yielding a simpli-fied control strategy for each pattern.Quasi-static MATLAB simulations and hardware experiments validate the approach:Across all four patterns,complete folding is achieved while the number of actively actuated cables is re-duced from 24 to 9.The results highlight the potential of morphological intelligence to simplify controller design for tensegrity robots.关键词
张拉整体机器人/折叠控制/平衡流形/形态智能Key words
tensegrity robot/folding control/equilibrium manifold/morphological intelligence引用本文复制引用
石家旭,陶子辰,桂昀,刘珂,刘华平,方浩,杨庆凯..结构仿生六杆张拉整体机器人折叠控制的形态智能方法[J].自动化学报,2026,52(5):942-952,11.基金项目
国家重点研发项目(2022YFB4702000),国家自然科学基金(62373048,U1913602,62025304,62088101)资助 Supported by National Key Research and Development Pro-gram of China(2022YFB4702000)and National Natural Science Foundation of China(62373048,U1913602,62025304,62088101) （2022YFB4702000）
