Controlling Closed-Chain Robots with Compliant SMA Actuators: Algorithms and Experiments

  • Kyle GilpinEmail author
  • Eduardo Torres-Jara
  • Daniela Rus
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)


In this paper we present algorithms, devices, simulations, and experiments concerning a robot that locomotes using novel compliant, sheet-based, shape memory alloy actuators. Specifically, we describe the theory and practical implementation of a provably correct algorithm capable of generating locomotion gaits in closed-loop linkages. We implement this algorithm in a distributed fashion on the HexRoller, a closed-chain robot with six low-stiffness actuators. We describe these actuators in detail and characterize their performance along with that of the robot.


Shape Memory Alloy Shape Memory Alloy Wire Shape Memory Alloy Actuator Compliant Joint Annealed Shape 
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© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.Distributed Robotics LabMassachusetts Institute of TechnologyCambridgeUSA

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