This paper presents a new teleoperated spherical tensegrity robot capable ofperforming locomotion on steep inclined surfaces. With a novel control schemecentered around the simultaneous actuation of multiple cables, the robotdemonstrates robust climbing on inclined surfaces in hardware experiments andspeeds significantly faster than previous spherical tensegrity models. Thisrobot is an improvement over other iterations in the TT-series and the firsttensegrity to achieve reliable locomotion on inclined surfaces of up to24\degree. We analyze locomotion in simulation and hardware under single andmulti-cable actuation, and introduce two novel multi-cable actuation policies,suited for steep incline climbing and speed, respectively. We proposecompelling justifications for the increased dynamic ability of the robot andmotivate development of optimization algorithms able to take advantage of therobot's increased control authority.
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