Design of a Spherical Tensegrity Robot for Dynamic Locomotion

Kyunam Kim1, Deaho Moon1, Jae Young Bin1, Alice Agogino2

  • 1UC Berkeley
  • 2University of California, Berkeley, CA


11:30 - 11:45 | Mon 25 Sep | Room 207 | MoAT11.5

Session: Flexible Robots


This work presents a novel spherical tensegrity robot, T12-R, which is designed and prototyped based on a twelve-rod tensegrity structure that resembles a rhombicuboctahedron. The geometry of T12-R allows for fast rolling and a detailed description of the robot design is provided. A simulation study of T12-R shows that the robot is capable of performing static locomotion. Control strategies for achieving dynamic locomotion in hardware are discussed.