LCRBot: Load‐Carrying Rolling Robot Based on Truncated Hexahedral Tensegrity

摘要

ABSTRACT The tensegrity robot consists of rigid compression bars and elastic tension cables, offering several advantages over traditional load‐carrying robots, including impact resistance, lightweight design, unique movement patterns, and modularity. However, research on tensegrity robots capable of carrying loads and rolling is very limited. This paper proposes a load‐carrying and rolling tensegrity robot (LCRBot) based on truncated hexahedral tensegrity structure, which offers ample load‐carrying space and the ability to perform rolling. LCRBot can achieve active deformation by elongating and shortening its internal bars. The gait control strategies of LCRBot under different numbers of actuators and rolling directions, as well as variations in different environments are investigated. The MATLAB‐based dynamic model of LCRBot is proposed and its simulation results of basic gait are consistent with the experiment. The proposed LCRBot showcases its potential for carrying sensors, power sources, and other equipment during rolling motions, making it highly valuable for research.