4 accepted papers
In this paper, we present a soft modular block inspired by tensegrity structures that can form load-bearing structures through self-assembly. The block comprises a stellated compliant skeleton, shape memory alloy muscles, and permanent magnet connectors. We classify five deformation primitives for i
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this letter, we exploit the opportunities presented by soft, modul
We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators and a generalized path planning algorithm for rolling polyhedra. Membrane actuators are planar, assembled in a scalable fashion,
Spinal-driven locomotion was first hypothesized to exist in biological systems in the 1980s. However, only recently has the concept been applied to legged robots. In implementing spinal-driven locomotion in robots to-date, researchers have focused on bending in the spine. In this article, we propose