Developing morphological computation in tensegrity robots for controllable actuation

Khazanov, Mark; Jocque, Julian; Rieffel, John

doi:10.1145/2598394.2605680

Cited by 6 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Mirats-Tur has presented design and controls work on various other tensegrity morphologies that have been tethered or fixed to the ground [14], [15]. At Union College, Rieffel and colleagues are following an interesting line of work by considering vibration based actuation for small tensegrities [16]. Related work was presented by Böhm and Zimmermann, who demonstrated controlled locomotion of vibration driven tensegrity robots with a single actuator [17].…”

Section: Background and Prior Work A Tensegrity Systems And Robomentioning

confidence: 99%

System design and locomotion of SUPERball, an untethered tensegrity robot

Sabelhaus

Bruce

Caluwaerts

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

130

View full text Add to dashboard Cite

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

show abstract

Section: Background and Prior Work A Tensegrity Systems And Robomentioning

confidence: 99%

System design and locomotion of SUPERball, an untethered tensegrity robot

Sabelhaus

Bruce

Caluwaerts

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

130

View full text Add to dashboard Cite

show abstract

“…Mirats-Tur has presented design and controls work on various other tensegrity morphologies that have been tethered or fixed to the ground [26,27]. At Union College, Rieffel and colleagues are following an interesting line of work by considering vibration based actuation for small tensegrities [28]. Related work was presented by Böhm and Zimmermann, who demonstrated controlled locomotion of vibration driven tensegrity robots with a single actuator [29].…”

Section: Background and Prior Workmentioning

confidence: 99%

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

Sabelhaus

Hylton

et al. 2015

Volume 5A: 39th Mechanisms and Robotics Conference

View full text Add to dashboard Cite

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.

show abstract

“…However, researchers want to exploit the flexible material properties of soft robots. For example, researchers have successfully implemented vibrationally based locomotion systems in tensegrity structures [9,1]. Tensegrity structures are comprised of tensile and rigid components and are capable of deforming and changing shape.…”

Section: Actuation Through Vibrationmentioning

confidence: 99%

Growing and Evolving Vibrationally Actuated Soft Robots

Berger

Andino

Danise

et al. 2015

Proceedings of the Companion Publication of the 2015 Annual Conference on Genetic and Evolutionary Computation

Self Cite

View full text Add to dashboard Cite

Designing soft robots is difficult, time-consuming, and nonintuitive. Soft robot design faces two main challenges: structure and control. This research uses generative encodings to grow structures and a vibrational mechanism to control locomotion. In this paper, we demonstrate the ability to successfully evolve soft robots that can move when vibrated. Soft bodies are grown through a grammatical process and simulated in the Bullet physics engine. We also briefly outline a method of evolving scalable solutions that we are currently investigating. It should be capable of generating soft robots of various sizes that can move when vibrated.

show abstract

Developing morphological computation in tensegrity robots for controllable actuation

Cited by 6 publications

References 11 publications

System design and locomotion of SUPERball, an untethered tensegrity robot

System design and locomotion of SUPERball, an untethered tensegrity robot

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

Growing and Evolving Vibrationally Actuated Soft Robots

Contact Info

Product

Resources

About