Aspects of the present disclosure include a robotic wheel that includes a tensegrity structure, an inner hub, an outer hub, and a cable. The tensegrity structure includes multiple rigid rods and multiple elastic cables, and the tensegrity structure defines a longitudinal axis, a first end and a second end. The inner hub is disposed at the first end of the tensegrity structure and the outer hub is disposed at the second end of the tensegrity structure. The cable is in contact with the outer hub, extends through the tensegrity structure parallel to the longitudinal axis, and extends through the inner hub. The cable is operable to retract to transition the tensegrity structure to a collapsed state and to extend to transition the tensegrity structure an expanded state.
MOBILE ROBOTS WITH SHAPE-CHANGING TENSEGRITY STRUCTURES
2024-10-24
Patent
Electronic Resource
English
Shape Control of Tensegrity Structures
AIAA | 2015
|DISTRIBUTED SYSTEM OF MOBILE PASSIVE TENSEGRITY STRUCTURES
TIBKAT | 2020
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