Design of a Spherical Tensegrity Robot for Dynamic Locomotion

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

  • 1UC Berkeley
  • 2University of California Berkeley

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Abstract

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.

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