Compliant Tensegrity Robotic Arm with Continuously Adjustable Stiffness for Versatile Operation
David Herrmann, Lukas Lehmann, Leon Schaeffer, Lukas Schmitt, Manuel Jochum, Paul Weigert, Valter Böhm
Abstract
This paper presents a compliant tensegrity robotic arm design that overcomes limitations related to stiffness variation and cascaded actuation. Due to the special design and actuation strategy, the system offers a large workspace using a small number of actuators and system parts. Key features include intrinsic compliance, enhanced stability in various configurations, and a modular tendon-driven actuation system that facilitates continuous stiffness adjustment for adaptive manipulation tasks. The system’s kinematics and actuation strategy are validated experimentally. Results demonstrate an increased workspace and precise control, offering potential applications in dynamic and human-interactive environments.
BibTeX
@inproceedings{iros2025_complianttensegr,
title = {Compliant Tensegrity Robotic Arm with Continuously Adjustable Stiffness for Versatile Operation},
author = {David Herrmann and Lukas Lehmann and Leon Schaeffer and Lukas Schmitt and Manuel Jochum and Paul Weigert and Valter Böhm},
booktitle = {IROS 2025},
year = {2025}
}