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IASS 2016 Tokyo Symposium: Spatial Structures in the 21st Century


IASS Symposium 2016

SESSION: Bio-inspired Control of Structures

Towards biomimetic actuation for a deployable structure

< Table of Contents for Bio-inspired Control of Structures
  • Proceedings Name: IASS 2016 Tokyo Symposium: Spatial Structures in the 21st Century
  • ISSN: (Electronic Version) 2518-6582
  • Session: Bio-inspired Control of Structures
  • Pages: 9
  • Title: Towards biomimetic actuation for a deployable structure
  • Author(s): Ann C. Sychterz, Ian F.C. Smith
  • Keywords: biomimetic, deployable structures, motion tracking
Abstract
Deployment along multiple degrees of freedom structure is challenging. Analogies to biological systems have potential to enhance performance. For experimental work, a tensegrity structure is employed. In previous work, the last stage of deployment of a tensegrity structure, connecting at mid-span, was enhanced using case-based reasoning. This study includes an evaluation of control commands of a near-full-scale deployable tensegrity footbridge. Bio-inspired control algorithms are found to reduce deployment time. Using a feedback-based sensitivity analysis as a means of selecting which cables to activate at what time increases the speed of deployment when compared with commands that have been determined through a simpler algorithm. Control through real-time sensitivity analyses is adaptable to other control tasks and other structural systems. This work provides an example of how biologically-inspired algorithms can improve methods of movement for complex structures.

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