IROS 2018poster113 citations
Design of SUPERball v2, a Compliant Tensegrity Robot for Absorbing Large Impacts
Massimo Vespignani, Jeffrey M. Friesen, Vytas SunSpiral, Jonathan Bruce
Abstract
In this paper, we present the system design and initial testing of SUPERball v2, a completely re-designed 2-meter spherical six-bar tensegrity robot designed to survive high-speed landings as well as locomote to desired locations. SUPERball v2 was designed to enable a host of new actuation and experimentation. The prototype features a fully actuated six-bar design (24 actuators), compliant nylon cables (up to 15% stretch), torque-control enabled motors, and a robust mechanical structure capable of surviving impact velocities upwards of 8 m/s.
BibTeX
@inproceedings{iros2018_designofsuperbal,
title = {Design of SUPERball v2, a Compliant Tensegrity Robot for Absorbing Large Impacts},
author = {Massimo Vespignani and Jeffrey M. Friesen and Vytas SunSpiral and Jonathan Bruce},
booktitle = {IROS 2018},
year = {2018}
}