Tensegrity structures are becoming increasingly popular as mechanical structures for robots. Their inherent compliance makes them extremely robust to environmental disturbances, and their design allows them to have a high strength-to-weight ratio whilst being lightweight compared to traditional robots. For these reasons they would be of interest to the aerospace industry, particularly for planetary exploration. However, being such compliant structures thanks to their network of elastic elements also means that their control is not an easy task. Relying solely on traditional control strategies to generate efficient locomotion would surely be near impossible due to the complex oscillatory motions and nonlinear interactions of its members. The goal of this project was to use bio-inspired control techniques to generate locomotion for a tensegrity icosahedron, namely the SUPERball project of the Intelligent Robotics Group of NASA Ames Research Center.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Biologically-Inspired Control for a Planetary Exploration Tensegrity Robot


    Contributors:
    Leroy, Marc (author)

    Conference:

    SUPERball Project Meeting 2017 ; 2017 ; Moffett Field, CA, United States


    Publication date :

    2017-08-09


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




    Soft Tensegrity Systems for Planetary Landing and Exploration

    Garanger, Kevin / Valle, Isaac del / Rath, Miriam et al. | TIBKAT | 2021


    SUPERball v2: A Tensegrity Rover for Planetary Exploration

    Bruce, Jonathan E. / Vespignani, Massimo | NTRS | 2019



    Tensegrity Lander Architecture for Planetary Explorations

    Saha, Dipanjan / Goyal, Raman / Skelton, Robert E. | TIBKAT | 2021


    Badminton-Inspired Self-Righting Tensegrity Landers

    Zhang, Alan / Ibarra, Alberto / Agogino, Alice M. | AIAA | 2022