Bio-inspired Tensegrity Soft Modular Robots

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.


Published in:
Proceedings of Conference Living Machines 2017: Biomimetic and Biohybrid Systems, 497-508
Presented at:
Living Machines 2017, Palo Alto, California, USA, July 25-28, 2017
Year:
2017
Publisher:
Springer
Keywords:
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 Record created 2017-10-09, last modified 2019-01-23

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