Tensegrity robot dynamic simulation and kinetic strategy programming

摘要

Tensegrity structures are prestressed structures consisting of a set of discontinuous compressed members (struts) and continuous tensile elements (cables). Because of their unique advantages of self-deformation, foldability and light-weighting, tensegrity structures have aroused researcher's intense interest in the field of robotics. In this paper, dynamic simulation for 6-strut tensegrity robot is conducted, and is focused on locomotion control strategy by calculating continuous kinematic workspace in advance. In the simulation, the scenario that the robot rolls on the uneven terrain is designed and results show our strategy is capable of dealing with tough terrain as well as planar ground. We also developed a prototype hardware system based on rope twisting mechanism to prove the validity of our method in this paper.