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Tensegrity Robotics

delete2022-08-01
delete76
PRE
AI
D
Dylan Shah
J
Joran Booth
R
Robert Baines
K
Kun Wang
M
Massimo Vespignani
K
Kostas E. Bekris
R
Rebecca Kramer‐Bottiglio *
DOI：10.1089/soro.2020.0170delete
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Abstract

Abstract

En 中文
Numerous recent advances in robotics have been inspired by the biological principle of tensile integrity-or tensegrity-to achieve remarkable feats of dexterity and resilience. Tensegrity robots contain compliant networks of rigid struts and soft cables, allowing them to change their shape by adjusting their internal tension. Local rigidity along the struts provides support to carry electronics and scientific payloads, while global compliance enabled by the flexible interconnections of struts and cables allows a tensegrity to distribute impacts and prevent damage. Numerous techniques have been proposed for designing and simulating tensegrity robots, giving rise to a wide range of locomotion modes, including rolling, vibrating, hopping, and crawling. In this study, we review progress in the burgeoning field of tensegrity robotics, highlighting several emerging challenges, including automated design, state sensing, and kinodynamic motion planning.
Keywords:
tensegrity
robotics
soft robotics
resilient robots

Journal

Soft Robotics cover
Soft Robotics
IF:
6.1
Papers:
760
Citations:
6.3K

Organization

R
rutgers university new brunswick
Scholars:
2.3W
Papers: 1.9W
Citations: 32
Y
Yale University
Scholars:
6.5W
Papers: 6.0W
Citations: 10.0W
R
rutgers university system
Scholars:
4.1W
Papers: 3.7W
Citations: 53
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