3 accepted papers
This work presents a novel spherical tensegrity robot, T12-R, which is designed and prototyped based on a twelve-rod tensegrity structure that resembles a rhombicuboctahedron. The geometry of T12-R allows for fast rolling and a detailed description of the robot design is provided. A simulation study…
This work presents a 10 kg tensegrity ball probe that can quickly and precisely deliver a 1 kg payload over a 1 km distance on the Moon by combining cable-driven rolling and thruster-based hopping. Previous research has shown that cable-driven rolling is effective for precise positioning, even in ro…
Robots based on tensegrity structures have the potential to be robust, efficient and adaptable. While traditionally being difficult to control, recent control strategies for ball-shaped tensegrity robots have successfully enabled punctuated rolling, hill-climbing and obstacle climbing. These gains h…