MULTI-CABLE ACTUATION FOR ENERGY-EFFICIENT TENSEGRITY ROBOTS

摘要

A tensegrity robot includes multiple tensile members connected to multiple structural members to form a spatially defined structure. Each structural member is connected to one or more other structural members by tensile members therebetween. The robot further includes multiple actuators operatively connected to the tensile members and the structural members, and multiple controllers configured to communicate with each of the actuators. The controllers direct control of at least one of tension or length of the tensile members by the actuators to cause a change in at least one of the size, shape or center of gravity of the spatially defined structure to effect robotic actions. At least two tensile members are connected to an actuator such that at least one of tension or length in both of the tensile members are changed in coordination by the actuator.