List of papers

93 papers are listed.

You can click on each title to display more information, including authors, url to pdf, abstract and bibtex.

2025: 7 Papers

A configurable tensegrity-based metastructure with tunable bandgap achieved by structural phase transition

Authors:

Ao Li
Xu Yin
Ben Guan
Guang-Kui Xu
Li-Yuan Zhang
Xi-Qiao Feng

Bibtex:

 @article{Li_2025, title={A configurable tensegrity-based metastructure with tunable bandgap achieved by structural phase transition}, volume={209}, ISSN={0263-8231}, url={http://dx.doi.org/10.1016/j.tws.2025.112909}, DOI={10.1016/j.tws.2025.112909}, journal={Thin-Walled Structures}, publisher={Elsevier BV}, author={Li, Ao and Yin, Xu and Guan, Ben and Xu, Guang-Kui and Zhang, Li-Yuan and Feng, Xi-Qiao}, year={2025}, month=apr, pages={112909} }

A tensegrity-based torsional vibration isolator with broad quasi-zero-stiffness region

Authors:

Zi-Yan Sun
Xiao-Hui Yue
Ao Li
Xu Yin
Zhi-Ying Gao
Li-Yuan Zhang

Bibtex:

 @article{Sun_2025, title={A tensegrity-based torsional vibration isolator with broad quasi-zero-stiffness region}, volume={224}, ISSN={0888-3270}, url={http://dx.doi.org/10.1016/j.ymssp.2024.112215}, DOI={10.1016/j.ymssp.2024.112215}, journal={Mechanical Systems and Signal Processing}, publisher={Elsevier BV}, author={Sun, Zi-Yan and Yue, Xiao-Hui and Li, Ao and Yin, Xu and Gao, Zhi-Ying and Zhang, Li-Yuan}, year={2025}, month=feb, pages={112215} }

A tensegrity-inspired inertial amplification metastructure with tunable dynamic characteristics

Authors:

Ao Li
Zhuo-Ming Bai
Xu Yin
Tao Zhu
Zi-Yan Sun
Jiang Yang
Li-Yuan Zhang

Bibtex:

 @article{Li_2025, title={A tensegrity-inspired inertial amplification metastructure with tunable dynamic characteristics}, volume={196}, ISSN={0022-5096}, url={http://dx.doi.org/10.1016/j.jmps.2025.106037}, DOI={10.1016/j.jmps.2025.106037}, journal={Journal of the Mechanics and Physics of Solids}, publisher={Elsevier BV}, author={Li, Ao and Bai, Zhuo-Ming and Yin, Xu and Zhu, Tao and Sun, Zi-Yan and Yang, Jiang and Zhang, Li-Yuan}, year={2025}, month=mar, pages={106037} }

Non-dimensional linear analysis of one-dimensional wave propagation in tensegrity structures

Authors:

R. Yazbeck
S. El-Borgi
J.G. Boyd
M. Chen
D.C. Lagoudas

Bibtex:

 @article{Yazbeck_2025, title={Non-dimensional linear analysis of one-dimensional wave propagation in tensegrity structures}, volume={353}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2024.118694}, DOI={10.1016/j.compstruct.2024.118694}, journal={Composite Structures}, publisher={Elsevier BV}, author={Yazbeck, R. and El-Borgi, S. and Boyd, J.G. and Chen, M. and Lagoudas, D.C.}, year={2025}, month=jan, pages={118694} }

Robust Genetic Algorithm-based deployment of a hollow-rope tensegrity utility bridge

Authors:

Sumit Kumar
Subhamoy Sen

Bibtex:

 @article{Kumar_2025, title={Robust Genetic Algorithm-based deployment of a hollow-rope tensegrity utility bridge}, volume={72}, ISSN={2352-0124}, url={http://dx.doi.org/10.1016/j.istruc.2024.108179}, DOI={10.1016/j.istruc.2024.108179}, journal={Structures}, publisher={Elsevier BV}, author={Kumar, Sumit and Sen, Subhamoy}, year={2025}, month=feb, pages={108179} }

Stability conditions of tensegrity structures considering local and global buckling

Authors:

Shuo Ma
Muhao Chen

Bibtex:

 @article{Ma_2025, title={Stability conditions of tensegrity structures considering local and global buckling}, volume={287}, ISSN={0020-7403}, url={http://dx.doi.org/10.1016/j.ijmecsci.2025.109951}, DOI={10.1016/j.ijmecsci.2025.109951}, journal={International Journal of Mechanical Sciences}, publisher={Elsevier BV}, author={Ma, Shuo and Chen, Muhao}, year={2025}, month=feb, pages={109951} }

Tensegrity-Based Legged Robot Generates Passive Walking, Skipping, and Crawling Gaits in Accordance With Environment

Authors:

Yanqiu Zheng
Fumihiko Asano
Cong Yan
Longchuan Li
Isao T. Tokuda

Bibtex:

 @article{Zheng_2025, title={Tensegrity-Based Legged Robot Generates Passive Walking, Skipping, and Crawling Gaits in Accordance With Environment}, ISSN={1941-014X}, url={http://dx.doi.org/10.1109/tmech.2024.3522904}, DOI={10.1109/tmech.2024.3522904}, journal={IEEE/ASME Transactions on Mechatronics}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Zheng, Yanqiu and Asano, Fumihiko and Yan, Cong and Li, Longchuan and Tokuda, Isao T.}, year={2025}, pages={1–12} }

2024: 18 Papers

A combined strategy for path planning of tensegrity manipulators considering structural stability

Authors:

Tianxiao Mao
Hua Deng
Hongchuang Liu

Bibtex:

 @article{Mao_2024, title={A combined strategy for path planning of tensegrity manipulators considering structural stability}, ISSN={1942-4310}, url={http://dx.doi.org/10.1115/1.4066853}, DOI={10.1115/1.4066853}, journal={Journal of Mechanisms and Robotics}, publisher={ASME International}, author={Mao, Tianxiao and Deng, Hua and Liu, Hongchuang}, year={2024}, month=oct, pages={1–33} }

A dynamic model of tensegrity robotic fish considering soft fish skin and tail

Authors:

Bingxing Chen
Jie Zhang
Qiuxu Meng
Zongxing Lu
Chong Zhao
Hongzhou Jiang

Bibtex:

 @article{Chen_2024, title={A dynamic model of tensegrity robotic fish considering soft fish skin and tail}, ISSN={1573-269X}, url={http://dx.doi.org/10.1007/s11071-024-10136-6}, DOI={10.1007/s11071-024-10136-6}, journal={Nonlinear Dynamics}, publisher={Springer Science and Business Media LLC}, author={Chen, Bingxing and Zhang, Jie and Meng, Qiuxu and Lu, Zongxing and Zhao, Chong and Jiang, Hongzhou}, year={2024}, month=oct }

A form-finding method for deployable tensegrity arms and inverse kinematics

Authors:

Victor Paiva
Luis Silva-Teixeira
Jaime Izuka
Eduardo Okabe
Paulo Kurka

Bibtex:

 @article{Paiva_2024, title={A form-finding method for deployable tensegrity arms and inverse kinematics}, ISSN={1572-9648}, url={http://dx.doi.org/10.1007/s11012-024-01880-5}, DOI={10.1007/s11012-024-01880-5}, journal={Meccanica}, publisher={Springer Science and Business Media LLC}, author={Paiva, Victor and Silva-Teixeira, Luis and Izuka, Jaime and Okabe, Eduardo and Kurka, Paulo}, year={2024}, month=sep }

An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion
Authors:
- Luyang Zhao
- Yitao Jiang
- Chun-Yi She
- Mingi Jeong
- Haibo Dong
- Alberto Quattrini Li
- Muhao Chen
- Devin Balkcom
Abstract:
This paper presents the first steps toward a soft dolphin robot using a bio-inspired approach to mimic dolphin flexibility. The current dolphin robot uses a minimalist approach, with only two actuated cable-driven degrees of freedom actuated by a pair of motors. The actuated tail moves up and down in a swimming motion, but this first proof of concept does not permit controlled turns of the robot. While existing robotic dolphins typically use revolute joints to articulate rigid bodies, our design -- which will be made opensource -- incorporates a flexible tail with tunable silicone skin and actuation flexibility via a cable-driven system, which mimics muscle dynamics and design flexibility with a tunable skeleton structure. The design is also tunable since the backbone can be easily printed in various geometries. The paper provides insights into how a few such variations affect robot motion and efficiency, measured by speed and cost of transport (COT). This approach demonstrates the potential of achieving dolphin-like motion through enhanced flexibility in bio-inspired robotics.
Links:
- Paper
Bibtex:
```
@article{Zhao2024An,
	title={An Untethered Bioinspired Robotic Tensegrity Dolphin with Multi-Flexibility Design for Aquatic Locomotion},
	author={Zhao, Luyang and Jiang, Yitao and She, Chun-Yi and Jeong, Mingi and Dong, Haibo and Quattrini Li, Alberto and Chen, Muhao and Balkcom, Devin},
	journal={arXiv preprint arXiv:2411.00347v1},
	year={2024} }
```

Analysis of shape-change capabilities for the two-stage tensegrity tower

Authors:

Ziying Cao
Ani Luo
Heping Liu
Yaming Feng

Bibtex:

 @article{Cao_2024, title={Analysis of shape-change capabilities for the two-stage tensegrity tower}, volume={68}, ISSN={2352-0124}, url={http://dx.doi.org/10.1016/j.istruc.2024.107110}, DOI={10.1016/j.istruc.2024.107110}, journal={Structures}, publisher={Elsevier BV}, author={Cao, Ziying and Luo, Ani and Liu, Heping and Feng, Yaming}, year={2024}, month=oct, pages={107110} }

Automatic assembly of tensegrity chain structures along axes based on NURBS curves

Authors:

Yongcan Dong
Xingfei Yuan
Yiqian Chen
Akram Samy
Shilin Dong

Bibtex:

 @article{Dong_2024, title={Automatic assembly of tensegrity chain structures along axes based on NURBS curves}, volume={348}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2024.118465}, DOI={10.1016/j.compstruct.2024.118465}, journal={Composite Structures}, publisher={Elsevier BV}, author={Dong, Yongcan and Yuan, Xingfei and Chen, Yiqian and Samy, Akram and Dong, Shilin}, year={2024}, month=nov, pages={118465} }

Creation of Metal-Complex-Integrated Tensegrity Triangle DNA Crystals

Authors:

Katsuhiko Abe
Haruhiko Eki
Yuki Hirose
Soyoung Park
Shanmugavel Chinnathambi
Ganesh Pandian Namasivayam
Kazuki Takeda
Hiroshi Sugiyama
Masayuki Endo

Bibtex:

 @article{Abe_2024, title={Creation of Metal-Complex-Integrated Tensegrity Triangle DNA Crystals}, volume={29}, ISSN={1420-3049}, url={http://dx.doi.org/10.3390/molecules29194674}, DOI={10.3390/molecules29194674}, number={19}, journal={Molecules}, publisher={MDPI AG}, author={Abe, Katsuhiko and Eki, Haruhiko and Hirose, Yuki and Park, Soyoung and Chinnathambi, Shanmugavel and Namasivayam, Ganesh Pandian and Takeda, Kazuki and Sugiyama, Hiroshi and Endo, Masayuki}, year={2024}, month=oct, pages={4674} }

Delocalized Deformation Enhanced Reusable Energy Absorption Metamaterials Based on Bistable Tensegrity

Authors:

Hao Yang
Jie Zhang
Ji Wang
Jinbo Hu
Zhigang Wu
Fei Pan
Jianing Wu

Bibtex:

 @article{Yang_2024, title={Delocalized Deformation Enhanced Reusable Energy Absorption Metamaterials Based on Bistable Tensegrity}, volume={35}, ISSN={1616-3028}, url={http://dx.doi.org/10.1002/adfm.202410217}, DOI={10.1002/adfm.202410217}, number={5}, journal={Advanced Functional Materials}, publisher={Wiley}, author={Yang, Hao and Zhang, Jie and Wang, Ji and Hu, Jinbo and Wu, Zhigang and Pan, Fei and Wu, Jianing}, year={2024}, month=aug }

Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot
Authors:
- Jonathan Mi
- Wenzhe Tong
- Yilin Ma
- Xiaonan Huang
Abstract:
Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. In this paper, we present the design, fabrication, assembly, and experimental results of the robot. Experimental data demonstrates the high accuracy cable length estimation (<1% error relative to bar length) and variable stiffness control of the cable actuator up to 7 times the minimum stiffness for self support. The presented tensegrity robot serves as a platform for future advancements in autonomous operation and open-source module design.
Links:
- Paper
Bibtex:
```
@article{Mi2024Design,
	title={Design of a Variable Stiffness Quasi-Direct Drive Cable-Actuated Tensegrity Robot},
	author={Mi, Jonathan and Tong, Wenzhe and Ma, Yilin and Huang, Xiaonan},
	journal={arXiv preprint arXiv:2409.05751v1},
	year={2024} }
```

Dynamic research on winding and capturing of tensegrity flexible manipulator

Authors:

Ningning Song
Mengru Zhang
Fei Li
Ziyun Kan
Jian Zhao
Haijun Peng

Bibtex:

 @article{Song_2024, title={Dynamic research on winding and capturing of tensegrity flexible manipulator}, volume={193}, ISSN={0094-114X}, url={http://dx.doi.org/10.1016/j.mechmachtheory.2023.105554}, DOI={10.1016/j.mechmachtheory.2023.105554}, journal={Mechanism and Machine Theory}, publisher={Elsevier BV}, author={Song, Ningning and Zhang, Mengru and Li, Fei and Kan, Ziyun and Zhao, Jian and Peng, Haijun}, year={2024}, month=mar, pages={105554} }

Flexible, lightweight, tunable robotic arms enabled by X-tensegrity inspired structures

Authors:

Xiao-Hui Yue
Xu Yin
Zi-Yan Sun
Long-Yue Liu
Yantao Wang
Guang-Kui Xu
Changyong Cao
Li-Yuan Zhang

Bibtex:

 @article{Yue_2024, title={Flexible, lightweight, tunable robotic arms enabled by X-tensegrity inspired structures}, volume={344}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2024.118331}, DOI={10.1016/j.compstruct.2024.118331}, journal={Composite Structures}, publisher={Elsevier BV}, author={Yue, Xiao-Hui and Yin, Xu and Sun, Zi-Yan and Liu, Long-Yue and Wang, Yantao and Xu, Guang-Kui and Cao, Changyong and Zhang, Li-Yuan}, year={2024}, month=sep, pages={118331} }

Mechanical response of tensegrity-origami solar modules

Authors:

Fernando Fraternali
Julia de Castro Motta
Giovanni Germano
Enrico Babilio
Ada Amendola

Bibtex:

 @article{Fraternali_2024, title={Mechanical response of tensegrity-origami solar modules}, volume={17}, ISSN={2666-4968}, url={http://dx.doi.org/10.1016/j.apples.2023.100174}, DOI={10.1016/j.apples.2023.100174}, journal={Applications in Engineering Science}, publisher={Elsevier BV}, author={Fraternali, Fernando and de Castro Motta, Julia and Germano, Giovanni and Babilio, Enrico and Amendola, Ada}, year={2024}, month=mar, pages={100174} }

Research on a novel tensegrity torus with superior shape adaptability

Authors:

Yongcan Dong
Xingfei Yuan
Shuo Ma
Shu Li
Akram Samy
Shilin Dong

Bibtex:

 @article{Dong_2024, title={Research on a novel tensegrity torus with superior shape adaptability}, volume={63}, ISSN={2352-0124}, url={http://dx.doi.org/10.1016/j.istruc.2024.106283}, DOI={10.1016/j.istruc.2024.106283}, journal={Structures}, publisher={Elsevier BV}, author={Dong, Yongcan and Yuan, Xingfei and Ma, Shuo and Li, Shu and Samy, Akram and Dong, Shilin}, year={2024}, month=may, pages={106283} }

Research on innovative fluid-driven pipe-strut tensegrity structure

Authors:

Shu Li
Akram Samy
Xingfei Yuan
Yongcan Dong
Zhendong Qiu

Bibtex:

 @article{Li_2024, title={Research on innovative fluid-driven pipe-strut tensegrity structure}, volume={203}, ISSN={0263-8231}, url={http://dx.doi.org/10.1016/j.tws.2024.112221}, DOI={10.1016/j.tws.2024.112221}, journal={Thin-Walled Structures}, publisher={Elsevier BV}, author={Li, Shu and Samy, Akram and Yuan, Xingfei and Dong, Yongcan and Qiu, Zhendong}, year={2024}, month=oct, pages={112221} }

Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints

Authors:

Jiahui Luo
Longqing Ge
Xiaoming Xu
Xiaodong Liu
Ziwei Zhuang
Lulu Han
ZhiGang Wu

Bibtex:

 @article{Luo_2024, title={Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints}, ISSN={1942-4310}, url={http://dx.doi.org/10.1115/1.4066745}, DOI={10.1115/1.4066745}, journal={Journal of Mechanisms and Robotics}, publisher={ASME International}, author={Luo, Jiahui and Ge, Longqing and Xu, Xiaoming and Liu, Xiaodong and Zhuang, Ziwei and Han, Lulu and Wu, ZhiGang}, year={2024}, month=sep, pages={1–28} }

Tensegrity FlaxSeat: Exploring the Application of Unidirectional Natural Fiber Biocomposite Profiles in a Tensegrity Configuration as a Concept for Architectural Applications

Authors:

Markus Renner
Evgenia Spyridonos
Hanaa Dahy

Bibtex:

 @article{Renner_2024, title={Tensegrity FlaxSeat: Exploring the Application of Unidirectional Natural Fiber Biocomposite Profiles in a Tensegrity Configuration as a Concept for Architectural Applications}, volume={14}, ISSN={2075-5309}, url={http://dx.doi.org/10.3390/buildings14082490}, DOI={10.3390/buildings14082490}, number={8}, journal={Buildings}, publisher={MDPI AG}, author={Renner, Markus and Spyridonos, Evgenia and Dahy, Hanaa}, year={2024}, month=aug, pages={2490} }

Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints
Authors:
- Wenzhe Tong
- Tzu-Yuan Lin
- Jonathan Mi
- Yicheng Jiang
- Maani Ghaffari
- Xiaonan Huang
Abstract:
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control and state estimation. This work presents a novel proprioceptive state estimator for tensegrity robots. The estimator initially uses the geometric constraints of 3-bar prism tensegrity structures, combined with IMU and motor encoder measurements, to reconstruct the robot's shape and orientation. It then employs a contact-aided invariant extended Kalman filter with forward kinematics to estimate the global position and orientation of the tensegrity robot. The state estimator's accuracy is assessed against ground truth data in both simulated environments and real-world tensegrity robot applications. It achieves an average drift percentage of 4.2%, comparable to the state estimation performance of traditional rigid robots. This state estimator advances the state of the art in tensegrity robot state estimation and has the potential to run in real-time using onboard sensors, paving the way for full autonomy of tensegrity robots in unstructured environments.
Links:
- Paper
Bibtex:
```
@article{Tong2024Tensegrity,
	title={Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints},
	author={Tong, Wenzhe and Lin, Tzu-Yuan and Mi, Jonathan and Jiang, Yicheng and Ghaffari, Maani and Huang, Xiaonan},
	journal={arXiv preprint arXiv:2410.24226v1},
	year={2024} }
```
Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints
Authors:
- Wenzhe Tong
- Tzu-Yuan Lin
- Jonathan Mi
- Yicheng Jiang
- Maani Ghaffari
- Xiaonan Huang
Abstract:
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control and state estimation. This work presents a novel proprioceptive state estimator for tensegrity robots. The estimator initially uses the geometric constraints of 3-bar prism tensegrity structures, combined with IMU and motor encoder measurements, to reconstruct the robot's shape and orientation. It then employs a contact-aided invariant extended Kalman filter with forward kinematics to estimate the global position and orientation of the tensegrity robot. The state estimator's accuracy is assessed against ground truth data in both simulated environments and real-world tensegrity robot applications. It achieves an average drift percentage of 4.2%, comparable to the state estimation performance of traditional rigid robots. This state estimator advances the state of the art in tensegrity robot state estimation and has the potential to run in real-time using onboard sensors, paving the way for full autonomy of tensegrity robots in unstructured environments.
Links:
- Paper
Bibtex:
```
@article{Tong2024Tensegrity,
	title={Tensegrity Robot Proprioceptive State Estimation with Geometric Constraints},
	author={Tong, Wenzhe and Lin, Tzu-Yuan and Mi, Jonathan and Jiang, Yicheng and Ghaffari, Maani and Huang, Xiaonan},
	journal={arXiv preprint arXiv:2410.24226v1},
	year={2024} }
```

2023: 17 Papers

A Modular Tensegrity Mobile Robot with Multi-locomotion Modes

Authors:

Qi Yang
Ze Yu
Binbin Lian
Tao Sun

Bibtex:

@incollection{Yang_2023,
	doi = {10.1007/978-981-99-6483-3_27},
	url = {https://doi.org/10.1007%2F978-981-99-6483-3_27},
	year = 2023,
	publisher = {Springer Nature Singapore},
	pages = {308--322},
	author = {Qi Yang and Ze Yu and Binbin Lian and Tao Sun},
	title = {A Modular Tensegrity Mobile Robot with Multi-locomotion Modes},
	booktitle = {Intelligent Robotics and Applications}
}

A novel 3D-printable tensegrity-inspired metamaterial enabling dynamic attenuation

Authors:

Hao Zeng
Ruinan Mu
Keyan Huo
Haifeng Zhao
Ke Wang
Anping Wang

Bibtex:

 @article{Zeng_2023, title={A novel 3D-printable tensegrity-inspired metamaterial enabling dynamic attenuation}, volume={19}, ISSN={1573-8841}, url={http://dx.doi.org/10.1007/s10999-023-09656-7}, DOI={10.1007/s10999-023-09656-7}, number={4}, journal={International Journal of Mechanics and Materials in Design}, publisher={Springer Science and Business Media LLC}, author={Zeng, Hao and Mu, Ruinan and Huo, Keyan and Zhao, Haifeng and Wang, Ke and Wang, Anping}, year={2023}, month=apr, pages={883–901} }

Analysis for a novel folding frame tensegrity tent

Authors:

Liu Heping
Song Jian
Qi Yupeng
Luo Ani

Bibtex:

 @article{Heping_2023, title={Analysis for a novel folding frame tensegrity tent}, volume={57}, ISSN={2352-0124}, url={http://dx.doi.org/10.1016/j.istruc.2023.105085}, DOI={10.1016/j.istruc.2023.105085}, journal={Structures}, publisher={Elsevier BV}, author={Heping, Liu and Jian, Song and Yupeng, Qi and Ani, Luo}, year={2023}, month=nov, pages={105085} }

Automatic construction of tensegrity structures with complex surfaces based on circle packing

Authors:

Yongcan Dong
Xingfei Yuan
Shuo Ma
Manyu Deng
Shilin Dong
Akram Samy

Bibtex:

 @article{Dong_2023, title={Automatic construction of tensegrity structures with complex surfaces based on circle packing}, volume={309}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2023.116667}, DOI={10.1016/j.compstruct.2023.116667}, journal={Composite Structures}, publisher={Elsevier BV}, author={Dong, Yongcan and Yuan, Xingfei and Ma, Shuo and Deng, Manyu and Dong, Shilin and Samy, Akram}, year={2023}, month=apr, pages={116667} }

Biochemomechanical Tensegrity Model of Cytoskeletons

Authors:

Shu-Yi Sun
Li-Yuan Zhang
Xindong Chen
Xi-Qiao Feng

Bibtex:

 @article{Sun_2023, title={Biochemomechanical Tensegrity Model of Cytoskeletons}, volume={175}, ISSN={0022-5096}, url={http://dx.doi.org/10.1016/j.jmps.2023.105288}, DOI={10.1016/j.jmps.2023.105288}, journal={Journal of the Mechanics and Physics of Solids}, publisher={Elsevier BV}, author={Sun, Shu-Yi and Zhang, Li-Yuan and Chen, Xindong and Feng, Xi-Qiao}, year={2023}, month=jun, pages={105288} }

Bionic Ankle Tensegrity Exoskeleton with Considerable Load Bearing Capability

Authors:

Dunwen Wei
Ximing Wei
Zhichao Zhang
Tao Gao
Xiaojuan Mo
Tom Verstraten
Bram Vanderborght
Dianbiao Dong

Bibtex:

@article{Wei_2023,
	doi = {10.1109/tmrb.2023.3321628},
	url = {https://doi.org/10.1109%2Ftmrb.2023.3321628},
	year = 2023,
	publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
	pages = {1--1},
	author = {Dunwen Wei and Ximing Wei and Zhichao Zhang and Tao Gao and Xiaojuan Mo and Tom Verstraten and Bram Vanderborght and Dianbiao Dong},
	title = {Bionic Ankle Tensegrity Exoskeleton with Considerable Load Bearing Capability},
	journal = {{IEEE} Transactions on Medical Robotics and Bionics}
}

Deep-Learning-Assisted Underwater 3D Tactile Tensegrity

Authors:

Peng Xu
Jiaxi Zheng
Jianhua Liu
Xiangyu Liu
Xinyu Wang
Siyuan Wang
Tangzhen Guan
Xianping Fu
Minyi Xu
Guangming Xie
Zhong Lin Wang

Bibtex:

 @article{Xu_2023, title={Deep-Learning-Assisted Underwater 3D Tactile Tensegrity}, volume={6}, ISSN={2639-5274}, url={http://dx.doi.org/10.34133/research.0062}, DOI={10.34133/research.0062}, journal={Research}, publisher={American Association for the Advancement of Science (AAAS)}, author={Xu, Peng and Zheng, Jiaxi and Liu, Jianhua and Liu, Xiangyu and Wang, Xinyu and Wang, Siyuan and Guan, Tangzhen and Fu, Xianping and Xu, Minyi and Xie, Guangming and Wang, Zhong Lin}, year={2023}, month=jan }

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator Robotics

Authors:

Cole Woods
Vishesh Vikas

Abstract:

The field of tensegrity faces challenges in design to facilitate efficient fabrication, and modeling due to the antagonistic nature of tension and compression elements. The research presents design methodology, and modeling framework for a human-spine inspired Dexterous continuum Tensegrity manipulatoR (DexTeR).

Bibtex:

"@article{10.1115/1.4056959,
author = {Woods, Cole and Vikas, Vishesh},
title = "{Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator}",
journal = {Journal of Mechanisms and Robotics},
volume = {15},
number = {3},
year = {2023},
month = {03},
abstract = "{The field of tensegrity faces challenges in design to facilitate efficient fabrication, and modeling due to the antagonistic nature of tension and compression elements. The research presents design methodology, and modeling framework for a human-spine inspired Dexterous continuum Tensegrity manipulatoR (DexTeR). DexTeR is a continuum manipulator that comprises of an assembly of “vertebra” modules fabricated using two curved links and 12 strings, and actuated using motor-tendon actuators. The fabrication methodology involves the construction of the equivalent graph of the module and finding the Euler path that traverses every edge of the graph exactly once. The vertices and edges of the graph correspond to the holes and strings or links of the mechanism. Unlike traditional rigid manipulators, the design results in centralization of the majority of the weight of the actuators at the base with negligible effect on the manipulator dynamics. For the first time in literature, we fabricate a tensegrity manipulator that is assembled using ten modules to conceptually validate the time and cost efficiency of the approach. A dynamic model of a vertebra module is presented using the Euler–Newton approach with screw theory representation. Each rigid link is represented using a screw, a six-dimensional vector with components of angular rotation, and linear translation. The nonlinearity in the system arises from the discontinuous behavior of the strings and the “closed-chain” nature of the mechanism. The behavior of the strings is piece-wise continuous to model their slack, compliant, or tension states.}",
issn = {1942-4302},
doi = {10.1115/1.4056959},
note = {031006}"

Energy-efficient cable-actuation strategies of the V-Expander tensegrity structure subjected to five shape changes

Authors:

Muhao Chen
Aguinaldo Fraddosio
Andrea Micheletti
Gaetano Pavone
Mario Daniele Piccioni
Robert E. Skelton

Bibtex:

 @article{Chen_2023, title={Energy-efficient cable-actuation strategies of the V-Expander tensegrity structure subjected to five shape changes}, volume={127}, ISSN={0093-6413}, url={http://dx.doi.org/10.1016/j.mechrescom.2022.104026}, DOI={10.1016/j.mechrescom.2022.104026}, journal={Mechanics Research Communications}, publisher={Elsevier BV}, author={Chen, Muhao and Fraddosio, Aguinaldo and Micheletti, Andrea and Pavone, Gaetano and Piccioni, Mario Daniele and Skelton, Robert E.}, year={2023}, month=jan, pages={104026} }

Large Torsion Thin Artificial Muscles Tensegrity Structure for Twist Manipulation

Authors:

Ryota Kobayashi
Hiroyuki Nabae
Koichi Suzumori

Bibtex:

 @article{Kobayashi_2023, title={Large Torsion Thin Artificial Muscles Tensegrity Structure for Twist Manipulation}, volume={8}, ISSN={2377-3774}, url={http://dx.doi.org/10.1109/lra.2023.3236889}, DOI={10.1109/lra.2023.3236889}, number={3}, journal={IEEE Robotics and Automation Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Kobayashi, Ryota and Nabae, Hiroyuki and Suzumori, Koichi}, year={2023}, month=mar, pages={1207–1214} }

Mechanics of superelastic tensegrity braces for timber frames equipped with buckling-restrained devices

Authors:

Fernando Fraternali
Julia de Castro Motta

Bibtex:

 @article{Fraternali_2023, title={Mechanics of superelastic tensegrity braces for timber frames equipped with buckling-restrained devices}, volume={281}, ISSN={0020-7683}, url={http://dx.doi.org/10.1016/j.ijsolstr.2023.112414}, DOI={10.1016/j.ijsolstr.2023.112414}, journal={International Journal of Solids and Structures}, publisher={Elsevier BV}, author={Fraternali, Fernando and de Castro Motta, Julia}, year={2023}, month=oct, pages={112414} }

Minimal mass of prismatic tensegrity structures

Authors:

Ziying Cao
Ani Luo
Yaming Feng
Heping Liu

Bibtex:

@article{Cao_2023,
	doi = {10.1108/ec-11-2022-0667},
	url = {https://doi.org/10.1108%2Fec-11-2022-0667},
	year = 2023,
	month = {jun},
	publisher = {Emerald},
	volume = {40},
	number = {5},
	pages = {1084--1100},
	author = {Ziying Cao and Ani Luo and Yaming Feng and Heping Liu},
	title = {Minimal mass of prismatic tensegrity structures},
	journal = {Engineering Computations}
}

Real2Sim2Real Transfer for Control of Cable-Driven Robots Via a Differentiable Physics Engine

Authors:

Kun Wang
William R. Johnson
Shiyang Lu
Xiaonan Huang
Joran Booth
Rebecca Kramer-Bottiglio
Mridul Aanjaneya
Kostas Bekris

Bibtex:

 @inproceedings{Wang_2023, title={Real2Sim2Real Transfer for Control of Cable-Driven Robots Via a Differentiable Physics Engine}, url={http://dx.doi.org/10.1109/iros55552.2023.10341811}, DOI={10.1109/iros55552.2023.10341811}, booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, publisher={IEEE}, author={Wang, Kun and Johnson, William R. and Lu, Shiyang and Huang, Xiaonan and Booth, Joran and Kramer-Bottiglio, Rebecca and Aanjaneya, Mridul and Bekris, Kostas}, year={2023}, month=oct }

Shape Change Analysis and Design of Cylindrical Tensegrity Booms

Authors:

Kaila M. Roffman
George A. Lesieutre

Bibtex:

@article{Roffman_2023,
	doi = {10.1061/jaeeez.aseng-4578},
	url = {https://doi.org/10.1061%2Fjaeeez.aseng-4578},
	year = 2023,
	month = {sep},
	publisher = {American Society of Civil Engineers ({ASCE})},
	volume = {36},
	number = {5},
	author = {Kaila M. Roffman and George A. Lesieutre},
	title = {Shape Change Analysis and Design of Cylindrical Tensegrity Booms},
	journal = {Journal of Aerospace Engineering}
}

Simplified form-finding for tensegrity structures through reference joints of symmetry orbits

Authors:

Linzi Fan
Ruizhi Xu
Pan Shi
Xiaodong Feng
Yao Chen

Bibtex:

 @article{Fan_2023, title={Simplified form-finding for tensegrity structures through reference joints of symmetry orbits}, volume={49}, ISSN={2352-0124}, url={http://dx.doi.org/10.1016/j.istruc.2023.02.006}, DOI={10.1016/j.istruc.2023.02.006}, journal={Structures}, publisher={Elsevier BV}, author={Fan, Linzi and Xu, Ruizhi and Shi, Pan and Feng, Xiaodong and Chen, Yao}, year={2023}, month=mar, pages={1157–1167} }

Tensegrity Applications to Architecture, Engineering and Robotics: A Review

Authors:

Valentin Gomez-Jauregui
Angela Carrillo-Rodriguez
Cristina Manchado
Pedro Lastra-Gonzalez

Bibtex:

@article{Gomez_Jauregui_2023,
	doi = {10.3390/app13158669},
	url = {https://doi.org/10.3390%2Fapp13158669},
	year = 2023,
	month = {jul},
	publisher = {{MDPI} {AG}},
	volume = {13},
	number = {15},
	pages = {8669},
	author = {Valentin Gomez-Jauregui and Angela Carrillo-Rodriguez and Cristina Manchado and Pedro Lastra-Gonzalez},
	title = {Tensegrity Applications to Architecture, Engineering and Robotics: A Review},
	journal = {Applied Sciences}
}

Tensegrity triboelectric nanogenerator for broadband blue energy harvesting in all-sea areas

Authors:

Heng Ning
Weiyu Zhou
Liang Tuo
Chuangjian Liang
Chunjin Chen
Songying Li
Hang Qu
Lingyu Wan
Guanlin Liu

Bibtex:

 @article{Ning_2023, title={Tensegrity triboelectric nanogenerator for broadband blue energy harvesting in all-sea areas}, volume={117}, ISSN={2211-2855}, url={http://dx.doi.org/10.1016/j.nanoen.2023.108906}, DOI={10.1016/j.nanoen.2023.108906}, journal={Nano Energy}, publisher={Elsevier BV}, author={Ning, Heng and Zhou, Weiyu and Tuo, Liang and Liang, Chuangjian and Chen, Chunjin and Li, Songying and Qu, Hang and Wan, Lingyu and Liu, Guanlin}, year={2023}, month=dec, pages={108906} }

2022: 15 Papers

6N-DoF Pose Tracking for Tensegrity Robots Robotics
Authors:
- Shiyang Lu
- William R Johnson III
- Kun Wang
- Xiaonan Huang
- Joran Booth
- Rebecca Kramer-Bottiglio
- Kostas Bekris
Abstract:
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the hybrid soft-rigid nature of these robots also complicates the ability to localize and track their state. This work aims to address what has been recognized as a grand challenge in this domain, i.e., the state estimation of tensegrity robots through a marker-less, vision-based method, as well as novel, on-board sensors that can measure the length of the robot’s cables. In particular, an iterative optimization process is proposed to track the 6-DoF pose of each rigid element of a tensegrity robot from an RGB-D video as well as endcap distance measurements from the cable sensors. To ensure that the pose estimates of rigid elements are physically feasible, i.e., they are not resulting in collisions between rods or with the environment, physical constraints are introduced during the optimization. Real-world experiments are performed with a 3-bar tensegrity robot, which performs locomotion gaits. Given ground truth data from a motion capture system, the proposed method achieves less than 1 cm translation error and 3 degrees rotation error, which significantly outperforms alternatives. At the same time, the approach can provide accurate pose estimation throughout the robot’s motion, while motion capture often fails due to occlusions.
Bibtex:
```
 @inproceedings{lu20226n, title={6N-DoF Pose Tracking for Tensegrity Robots}, author={Lu, Shiyang and Johnson III, William R and Wang, Kun and Huang, Xiaonan and Booth, Joran and Kramer-Bottiglio, Rebecca and Bekris, Kostas}, booktitle={The International Symposium of Robotics Research}, pages={136--152}, year={2022}, organization={Springer}
```

A four-prism tensegrity robot using a rolling gait for locomotion

Authors:

Xinrui Wang
Zhenchao Ling
Chen Qiu
Zhibin Song
Rongjie Kang

Bibtex:

 @article{Wang_2022, title={A four-prism tensegrity robot using a rolling gait for locomotion}, volume={172}, ISSN={0094-114X}, url={http://dx.doi.org/10.1016/j.mechmachtheory.2022.104828}, DOI={10.1016/j.mechmachtheory.2022.104828}, journal={Mechanism and Machine Theory}, publisher={Elsevier BV}, author={Wang, Xinrui and Ling, Zhenchao and Qiu, Chen and Song, Zhibin and Kang, Rongjie}, year={2022}, month=jun, pages={104828} }

A self-vibration-control tensegrity structure for space large-scale construction

Authors:

Yaqiong Tang
Tuanjie Li
Qing Lv
Xiaokai Wang

Bibtex:

 @article{Tang_2022, title={A self-vibration-control tensegrity structure for space large-scale construction}, volume={177}, ISSN={0888-3270}, url={http://dx.doi.org/10.1016/j.ymssp.2022.109241}, DOI={10.1016/j.ymssp.2022.109241}, journal={Mechanical Systems and Signal Processing}, publisher={Elsevier BV}, author={Tang, Yaqiong and Li, Tuanjie and Lv, Qing and Wang, Xiaokai}, year={2022}, month=sep, pages={109241} }

A tensegrity-based morphing module for assembling various deployable structures

Authors:

Li-Yuan Zhang
Yang Zheng
Xu Yin
Shuai Zhang
Hai-Quan Li
Guang-Kui Xu

Bibtex:

 @article{Zhang_2022, title={A tensegrity-based morphing module for assembling various deployable structures}, volume={173}, ISSN={0094-114X}, url={http://dx.doi.org/10.1016/j.mechmachtheory.2022.104870}, DOI={10.1016/j.mechmachtheory.2022.104870}, journal={Mechanism and Machine Theory}, publisher={Elsevier BV}, author={Zhang, Li-Yuan and Zheng, Yang and Yin, Xu and Zhang, Shuai and Li, Hai-Quan and Xu, Guang-Kui}, year={2022}, month=jul, pages={104870} }

Analysis of new wave-curved tensegrity dome

Authors:

Yue Feng
XingFei Yuan
Akram Samy

Bibtex:

 @article{Feng_2022, title={Analysis of new wave-curved tensegrity dome}, volume={250}, ISSN={0141-0296}, url={http://dx.doi.org/10.1016/j.engstruct.2021.113408}, DOI={10.1016/j.engstruct.2021.113408}, journal={Engineering Structures}, publisher={Elsevier BV}, author={Feng, Yue and Yuan, XingFei and Samy, Akram}, year={2022}, month=jan, pages={113408} }

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

Authors:

Xiaolin Dai
Yixiang Liu
Wei Wang
Rui Song
Yibin Li
Jie Zhao

Bibtex:

 @article{Dai_2022, title={Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion}, volume={20}, ISSN={2543-2141}, url={http://dx.doi.org/10.1007/s42235-022-00301-1}, DOI={10.1007/s42235-022-00301-1}, number={2}, journal={Journal of Bionic Engineering}, publisher={Springer Science and Business Media LLC}, author={Dai, Xiaolin and Liu, Yixiang and Wang, Wei and Song, Rui and Li, Yibin and Zhao, Jie}, year={2022}, month=nov, pages={515–529} }

Design and experiments of a novel quadruped robot with tensegrity legs

Authors:

Junxiao Cui
Panfeng Wang
Tao Sun
Shuai Ma
Shibo Liu
Rongjie Kang
Fan Guo

Bibtex:

 @article{Cui_2022, title={Design and experiments of a novel quadruped robot with tensegrity legs}, volume={171}, ISSN={0094-114X}, url={http://dx.doi.org/10.1016/j.mechmachtheory.2022.104781}, DOI={10.1016/j.mechmachtheory.2022.104781}, journal={Mechanism and Machine Theory}, publisher={Elsevier BV}, author={Cui, Junxiao and Wang, Panfeng and Sun, Tao and Ma, Shuai and Liu, Shibo and Kang, Rongjie and Guo, Fan}, year={2022}, month=may, pages={104781} }

Design of a Tensegrity Servo-Actuated Structure for Civil Applications

Authors:

Cecilia Scoccia
Luca Carbonari
Giacomo Palmieri
Massimo Callegari
Marco Rossi
Placido Munafó
Francesco Marchione
Gianluca Chiappini

Bibtex:

 @article{Scoccia_2022, title={Design of a Tensegrity Servo-Actuated Structure for Civil Applications}, volume={144}, ISSN={1528-9001}, url={http://dx.doi.org/10.1115/1.4053283}, DOI={10.1115/1.4053283}, number={4}, journal={Journal of Mechanical Design}, publisher={ASME International}, author={Scoccia, Cecilia and Carbonari, Luca and Palmieri, Giacomo and Callegari, Massimo and Rossi, Marco and Munafó, Placido and Marchione, Francesco and Chiappini, Gianluca}, year={2022}, month=jan }

Fabrication and experimental characterisation of a bistable tensegrity-like unit for lattice metamaterials

Authors:

Claudio Intrigila
Andrea Micheletti
Nicola A. Nodargi
Edoardo Artioli
Paolo Bisegna

Bibtex:

 @article{Intrigila_2022, title={Fabrication and experimental characterisation of a bistable tensegrity-like unit for lattice metamaterials}, volume={57}, ISSN={2214-8604}, url={http://dx.doi.org/10.1016/j.addma.2022.102946}, DOI={10.1016/j.addma.2022.102946}, journal={Additive Manufacturing}, publisher={Elsevier BV}, author={Intrigila, Claudio and Micheletti, Andrea and Nodargi, Nicola A. and Artioli, Edoardo and Bisegna, Paolo}, year={2022}, month=sep, pages={102946} }

Force Enhanced Multi-Twisted and Coiled Actuator and Its Application in Temperature Self-Adaptive Tensegrity Mechanisms

Authors:

Dong Zhou
Yingxiang Liu
Jie Deng
Jin Sun
Yuan Fu

Bibtex:

 @article{Zhou_2022, title={Force Enhanced Multi-Twisted and Coiled Actuator and Its Application in Temperature Self-Adaptive Tensegrity Mechanisms}, volume={27}, ISSN={1941-014X}, url={http://dx.doi.org/10.1109/tmech.2022.3150761}, DOI={10.1109/tmech.2022.3150761}, number={5}, journal={IEEE/ASME Transactions on Mechatronics}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Zhou, Dong and Liu, Yingxiang and Deng, Jie and Sun, Jin and Fu, Yuan}, year={2022}, month=oct, pages={3964–3976} }

Force density-informed neural network for prestress design of tensegrity structures with multiple self-stress modes

Authors:

Duy T.N. Trinh
Seunghye Lee
Joowon Kang
Jaehong Lee

Bibtex:

 @article{Trinh_2022, title={Force density-informed neural network for prestress design of tensegrity structures with multiple self-stress modes}, volume={94}, ISSN={0997-7538}, url={http://dx.doi.org/10.1016/j.euromechsol.2022.104584}, DOI={10.1016/j.euromechsol.2022.104584}, journal={European Journal of Mechanics - A/Solids}, publisher={Elsevier BV}, author={Trinh, Duy T.N. and Lee, Seunghye and Kang, Joowon and Lee, Jaehong}, year={2022}, month=jul, pages={104584} }

Form-finding of tessellated tensegrity structures

Authors:

Keyao Song
Fabrizio Scarpa
Mark Schenk

Bibtex:

 @article{Song_2022, title={Form-finding of tessellated tensegrity structures}, volume={252}, ISSN={0141-0296}, url={http://dx.doi.org/10.1016/j.engstruct.2021.113627}, DOI={10.1016/j.engstruct.2021.113627}, journal={Engineering Structures}, publisher={Elsevier BV}, author={Song, Keyao and Scarpa, Fabrizio and Schenk, Mark}, year={2022}, month=feb, pages={113627} }

Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations

Authors:

Ryota Kobayashi
Hiroyuki Nabae
Gen Endo
Koichi Suzumori

Bibtex:

 @article{Kobayashi_2022, title={Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations}, volume={7}, ISSN={2377-3774}, url={http://dx.doi.org/10.1109/lra.2022.3153700}, DOI={10.1109/lra.2022.3153700}, number={2}, journal={IEEE Robotics and Automation Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Kobayashi, Ryota and Nabae, Hiroyuki and Endo, Gen and Suzumori, Koichi}, year={2022}, month=apr, pages={5349–5356} }

Stacked Tensegrity Mechanism for Medical Application Robotics
Authors:
- Dhruva Khanzode
- Ranjan Jha
- Emilie Duchalais
- Damien Chablat
Abstract:
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as having linear springs and cables functioning as actuators. The singularities, as well as the stability of the parallel mechanism, were analyzed by using the principle of minimum energy. Optimization was also done to obtain the greatest angular deflection for a segment according to a ratio between the size of the base and the moving platform of the robotic system. The result of this work is a family of mechanisms that can generate the same workspace for different stability properties.
Links:
- Paper
Bibtex:
```
" @article{khanzode2022stacked,
title={Stacked Tensegrity Mechanism for Medical Application},
author={Khanzode, Dhruva and Jha, Ranjan and Duchalais, Emilie and Chablat, Damien},
journal={arXiv preprint arXiv:2204.01312},
year={2022} }"
```

The equilibrium and form-finding of general tensegrity systems with rigid bodies

Authors:

Shuo Ma
Muhao Chen
Zhangli Peng
Xingfei Yuan
Robert E. Skelton

Bibtex:

 @article{Ma_2022, title={The equilibrium and form-finding of general tensegrity systems with rigid bodies}, volume={266}, ISSN={0141-0296}, url={http://dx.doi.org/10.1016/j.engstruct.2022.114618}, DOI={10.1016/j.engstruct.2022.114618}, journal={Engineering Structures}, publisher={Elsevier BV}, author={Ma, Shuo and Chen, Muhao and Peng, Zhangli and Yuan, Xingfei and Skelton, Robert E.}, year={2022}, month=sep, pages={114618} }

2021: 11 Papers

Jumping locomotion system based on a multistable tensegrity structure Robotics
Authors:
- Philipp Schorr
- Lena Zentner
- Klaus Zimmerman
- Valter Böhm
Abstract:
Multistable tensegrity structures are a new interesting class of compliant prestressed structures. Due to their beneficial properties, these structures are attractive for robotic applications. In this paper a gripper is introduced, which is based on a mechanical compliant, multistable tensegrity structure. The underlying tensegrity structure of the considered gripper is investigated in detail. The influence of the member parameters on the existence of multiple states of self-equilibrium and the mechanical compliance is discussed with the help of static geometric nonlinear analyses, based on the Finite Element Method. The dynamical behaviour of the structure, during the change between the equilibrium configurations, is considered. Therefor the dynamical equations of motion are derived. Then gripper arms are added to the tensegrity structure to obtain a gripper. Different actuation principles for the gripper are discussed. Additionally, a prototype of the gripper has been built and is presented, as well as, selected experimental results.

A novel method for determining the feasible integral self-stress states for tensegrity structures

Authors:

Aguinaldo Fraddosio
Gaetano Pavone
Mario Daniele Piccioni

Bibtex:

 @article{Fraddosio_2021, title={A novel method for determining the feasible integral self-stress states for tensegrity structures}, volume={8}, ISSN={2353-7396}, url={http://dx.doi.org/10.1515/cls-2021-0007}, DOI={10.1515/cls-2021-0007}, number={1}, journal={Curved and Layered Structures}, publisher={Walter de Gruyter GmbH}, author={Fraddosio, Aguinaldo and Pavone, Gaetano and Piccioni, Mario Daniele}, year={2021}, month=jan, pages={70–88} }

Design of adaptive structures through energy minimization: extension to tensegrity

Authors:

Yafeng Wang
Gennaro Senatore

Bibtex:

 @article{Wang_2021, title={Design of adaptive structures through energy minimization: extension to tensegrity}, volume={64}, ISSN={1615-1488}, url={http://dx.doi.org/10.1007/s00158-021-02899-y}, DOI={10.1007/s00158-021-02899-y}, number={3}, journal={Structural and Multidisciplinary Optimization}, publisher={Springer Science and Business Media LLC}, author={Wang, Yafeng and Senatore, Gennaro}, year={2021}, month=jul, pages={1079–1110} }

Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending

Authors:

Shuhei Ikemoto
Kenta Tsukamoto
Yuhei Yoshimitsu

Bibtex:

 @article{Ikemoto_2021, title={Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending}, volume={8}, ISSN={2296-9144}, url={http://dx.doi.org/10.3389/frobt.2021.774253}, DOI={10.3389/frobt.2021.774253}, journal={Frontiers in Robotics and AI}, publisher={Frontiers Media SA}, author={Ikemoto, Shuhei and Tsukamoto, Kenta and Yoshimitsu, Yuhei}, year={2021}, month=nov }

Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism

Authors:

Wanda Zhao
Anatol Pashkevich
Alexandr Klimchik
Damien Chablat

Bibtex:

 @article{Zhao_2021, title={Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism}, volume={14}, ISSN={1942-4310}, url={http://dx.doi.org/10.1115/1.4051789}, DOI={10.1115/1.4051789}, number={2}, journal={Journal of Mechanisms and Robotics}, publisher={ASME International}, author={Zhao, Wanda and Pashkevich, Anatol and Klimchik, Alexandr and Chablat, Damien}, year={2021}, month=sep }

Low-cost racking for solar photovoltaic systems with renewable tensegrity structures

Authors:

Shamsul Arefeen
Tim Dallas

Bibtex:

 @article{Arefeen_2021, title={Low-cost racking for solar photovoltaic systems with renewable tensegrity structures}, volume={224}, ISSN={0038-092X}, url={http://dx.doi.org/10.1016/j.solener.2021.06.020}, DOI={10.1016/j.solener.2021.06.020}, journal={Solar Energy}, publisher={Elsevier BV}, author={Arefeen, Shamsul and Dallas, Tim}, year={2021}, month=aug, pages={798–807} }

Revisiting tissue tensegrity: Biomaterial-based approaches to measure forces across length scales

Authors:

Christina-Marie Boghdady
Nikita Kalashnikov
Stephanie Mok
Luke McCaffrey
Christopher Moraes

Bibtex:

 @article{Boghdady_2021, title={Revisiting tissue tensegrity: Biomaterial-based approaches to measure forces across length scales}, volume={5}, ISSN={2473-2877}, url={http://dx.doi.org/10.1063/5.0046093}, DOI={10.1063/5.0046093}, number={4}, journal={APL Bioengineering}, publisher={AIP Publishing}, author={Boghdady, Christina-Marie and Kalashnikov, Nikita and Mok, Stephanie and McCaffrey, Luke and Moraes, Christopher}, year={2021}, month=oct }

Seeking Quality Diversity in Evolutionary Co-design of Morphology and Control of Soft Tensegrity Modular Robots Robotics
Authors:
- Enrico Zardini
- Davide Zappetti
- Davide Zambrano
- Giovanni Iacca
- Dario Floreano
Abstract:
Designing optimal soft modular robots is difficult, due to non-trivial interactions between morphology and controller. Evolutionary algorithms (EAs), combined with physical simulators, represent a valid tool to overcome this issue. In this work, we investigate algorithmic solutions to improve the Quality Diversity of co-evolved designs of Tensegrity Soft Modular Robots (TSMRs) for two robotic tasks, namely goal reaching and squeezing trough a narrow passage. To this aim, we use three different EAs, i.e., MAP-Elites and two custom algorithms: one based on Viability Evolution (ViE) and NEAT (ViE-NEAT), the other named Double Map MAP-Elites (DM-ME) and devised to seek diversity while co-evolving robot morphologies and neural network (NN)-based controllers. In detail, DM-ME extends MAP-Elites in that it uses two distinct feature maps, referring to morphologies and controllers respectively, and integrates a mechanism to automatically define the NN-related feature descriptor. Considering the fitness, in the goal-reaching task ViE-NEAT outperforms MAP-Elites and results equivalent to DM-ME. Instead, when considering diversity in terms of 'illumination' of the feature space, DM-ME outperforms the other two algorithms on both tasks, providing a richer pool of possible robotic designs, whereas ViE-NEAT shows comparable performance to MAP-Elites on goal reaching, although it does not exploit any map.
Links:
- Paper
Bibtex:
```
"@inproceedings{zardini2021seeking,
 title={Seeking Quality Diversity in Evolutionary Co-design of Morphology and Control of Soft Tensegrity Modular Robots},
 author={Zardini, Enrico and Zappetti, Davide and Zambrano, Davide and Iacca, Giovanni and Floreano, Dario},
 booktitle={Genetic and Evolutionary Computation Conference},
 year={2021}
 }
"
```

Surface Actuation and Sensing of a Tensegrity Structure Using Robotic Skins

Authors:

Joran W. Booth
Olivier Cyr-Choinière
Jennifer C. Case
Dylan Shah
Michelle C. Yuen
Rebecca Kramer-Bottiglio

Bibtex:

 @article{Booth_2021, title={Surface Actuation and Sensing of a Tensegrity Structure Using Robotic Skins}, volume={8}, ISSN={2169-5180}, url={http://dx.doi.org/10.1089/soro.2019.0142}, DOI={10.1089/soro.2019.0142}, number={5}, journal={Soft Robotics}, publisher={Mary Ann Liebert Inc}, author={Booth, Joran W. and Cyr-Choinière, Olivier and Case, Jennifer C. and Shah, Dylan and Yuen, Michelle C. and Kramer-Bottiglio, Rebecca}, year={2021}, month=oct, pages={531–541} }

Tensegrity system dynamics based on finite element method
Authors:
- Shuo Ma
- Muhao Chen
- Robert E. Skelton
Abstract:
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity dynamics with and without constraints are first derived. The equilibrium equations in three standard forms (in terms of nodal coordinate, force density, and force vectors) and the compatibility equation are also given. Then, we present the linearized dynamics and modal analysis equations with and without constraints. The developed approach is capable of conducting the following comprehensive dynamics studies for any tensegrity structures accurately: 1. Performing rigid body dynamics with acceptable errors, which is achieved by setting relatively high stiffness for bars in the simulation. 2. Simulating FEM dynamics accurately, where bars and strings can have elastic or plastic deformations. 3. Dealing with various kinds of boundary conditions, for example, fixing or applying static/dynamic loads at any nodes in any direction (i.e., gravitational force, some specified forces, or arbitrary seismic vibrations). 4. Conducting accurate modal analysis, including natural frequency and corresponding modes. Three examples, a double pendulum, a cantilever truss with external force, and a double prism tensegrity tower, are carefully selected and studied. The results are compared with rigid body dynamics and FEM software ANSYS. This study provides a deep insight into structures, materials, performances, as well as an interface towards integrating control theories.
Links:
- Paper
Bibtex:
```
 @article{Ma_2022, title={Tensegrity system dynamics based on finite element method}, volume={280}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2021.114838}, DOI={10.1016/j.compstruct.2021.114838}, journal={Composite Structures}, publisher={Elsevier BV}, author={Ma, Shuo and Chen, Muhao and Skelton, Robert E.}, year={2022}, month=jan, pages={114838} }
```

The topology finding algorithm of tensegrity structures based on scheme matrix strategy

Authors:

Xiaodong Feng
Wanpeng Zhang
Sa Jianbo
Yao Chen
Zlotnik Sergio

Bibtex:

 @article{Feng_2021, title={The topology finding algorithm of tensegrity structures based on scheme matrix strategy}, volume={275}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2021.114429}, DOI={10.1016/j.compstruct.2021.114429}, journal={Composite Structures}, publisher={Elsevier BV}, author={Feng, Xiaodong and Zhang, Wanpeng and Jianbo, Sa and Chen, Yao and Sergio, Zlotnik}, year={2021}, month=nov, pages={114429} }

2020: 13 Papers

Behavioral Repertoires for Soft Tensegrity Robots Robotics
Authors:
- Kyle Doney
- Aikaterini Petridou
- Jacob Karaul
- Ali Khan
- Geoffrey Liu
- John Rieffel
Abstract:
Mobile soft robots offer compelling applications in fields ranging from urban search and rescue to planetary exploration. A critical challenge of soft robotic control is that the nonlinear dynamics imposed by soft materials often result in complex behaviors that are counter-intuitive and hard to model or predict. As a consequence, most behaviors for mobile soft robots are discovered through empirical trial and error and handtuning. A second challenge is that soft materials are difficult to simulate with high fidelity - leading to a significant reality gap when trying to discover or optimize new behaviors. In this work we employ a Quality Diversity Algorithm running model-free on a physical soft tensegrity robot that autonomously generates a behavioral repertoire with no a priori knowledge of the robot’s dynamics, and minimal human intervention. The resulting behavior repertoire displays a diversity of unique locomotive gaits useful for a variety of tasks. These results help provide a road map for increasing the behavioral capabilities of mobile soft robots through real-world automation.
Links:
- Paper
Bibtex:
```
 @article{doney2020behavioral, title={Behavioral Repertoires for Soft Tensegrity Robots}, author={Doney, Kyle and Petridou, Aikaterini and Karaul, Jacob and Khan, Ali and Liu, Geoffrey and Rieffel, John}, journal={arXiv preprint arXiv:2009.10864}, year={2020}} 
```

Design and Testing of Bistable Lattices with Tensegrity Architecture and Nanoscale Features Fabricated by Multiphoton Lithography

Authors:

Zacharias Vangelatos
Andrea Micheletti
Costas P. Grigoropoulos
Fernando Fraternali

Bibtex:

 @article{Vangelatos_2020, title={Design and Testing of Bistable Lattices with Tensegrity Architecture and Nanoscale Features Fabricated by Multiphoton Lithography}, volume={10}, ISSN={2079-4991}, url={http://dx.doi.org/10.3390/nano10040652}, DOI={10.3390/nano10040652}, number={4}, journal={Nanomaterials}, publisher={MDPI AG}, author={Vangelatos, Zacharias and Micheletti, Andrea and Grigoropoulos, Costas P. and Fraternali, Fernando}, year={2020}, month=mar, pages={652} }

Design of a new tensegrity cantilever structure

Authors:

Shuo Ma
Muhao Chen
Robert E. Skelton

Bibtex:

 @article{Ma_2020, title={Design of a new tensegrity cantilever structure}, volume={243}, ISSN={0263-8223}, url={http://dx.doi.org/10.1016/j.compstruct.2020.112188}, DOI={10.1016/j.compstruct.2020.112188}, journal={Composite Structures}, publisher={Elsevier BV}, author={Ma, Shuo and Chen, Muhao and Skelton, Robert E.}, year={2020}, month=jul, pages={112188} }

Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

Authors:

Dunwen Wei
Tao Gao
Xiaojuan Mo
Ruru Xi
Cong Zhou

Bibtex:

 @article{Wei_2020, title={Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure}, volume={33}, ISSN={2192-8258}, url={http://dx.doi.org/10.1186/s10033-019-0426-7}, DOI={10.1186/s10033-019-0426-7}, number={1}, journal={Chinese Journal of Mechanical Engineering}, publisher={Springer Science and Business Media LLC}, author={Wei, Dunwen and Gao, Tao and Mo, Xiaojuan and Xi, Ruru and Zhou, Cong}, year={2020}, month=feb }

Flexural tensegrity of segmental beams

Authors:

Claudio Boni
Marco Silvestri
Gianni Royer-Carfagni

Bibtex:

 @article{Boni_2020, title={Flexural tensegrity of segmental beams}, volume={476}, ISSN={1471-2946}, url={http://dx.doi.org/10.1098/rspa.2020.0062}, DOI={10.1098/rspa.2020.0062}, number={2237}, journal={Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences}, publisher={The Royal Society}, author={Boni, Claudio and Silvestri, Marco and Royer-Carfagni, Gianni}, year={2020}, month=may }

Gyroscopic Tensegrity Robots

Authors:

Raman Goyal
Muhao Chen
Maoranjan Majji
Robert E. Skelton

Bibtex:

 @article{Goyal_2020, title={Gyroscopic Tensegrity Robots}, volume={5}, ISSN={2377-3774}, url={http://dx.doi.org/10.1109/lra.2020.2967288}, DOI={10.1109/lra.2020.2967288}, number={2}, journal={IEEE Robotics and Automation Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Goyal, Raman and Chen, Muhao and Majji, Maoranjan and Skelton, Robert E.}, year={2020}, month=apr, pages={1239–1246} }

Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures

Authors:

Davide Zappetti
Seung Hee Jeong
Jun Shintake
Dario Floreano

Bibtex:

 @article{Zappetti_2020, title={Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures}, volume={7}, ISSN={2169-5180}, url={http://dx.doi.org/10.1089/soro.2019.0091}, DOI={10.1089/soro.2019.0091}, number={3}, journal={Soft Robotics}, publisher={Mary Ann Liebert Inc}, author={Zappetti, Davide and Jeong, Seung Hee and Shintake, Jun and Floreano, Dario}, year={2020}, month=jun, pages={362–369} }

Prototyping knit tensegrity shells: a design-to-fabrication workflow

Authors:

Sachin Sean Gupta
Ying Yi Tan
Pei Zhi Chia
Christyasto P. Pambudi
Yu Han Quek
Christine Yogiaman
Kenneth J. Tracy

Bibtex:

 @article{Gupta_2020, title={Prototyping knit tensegrity shells: a design-to-fabrication workflow}, volume={2}, ISSN={2523-3971}, url={http://dx.doi.org/10.1007/s42452-020-2693-4}, DOI={10.1007/s42452-020-2693-4}, number={6}, journal={SN Applied Sciences}, publisher={Springer Science and Business Media LLC}, author={Gupta, Sachin Sean and Tan, Ying Yi and Chia, Pei Zhi and Pambudi, Christyasto P. and Quek, Yu Han and Yogiaman, Christine and Tracy, Kenneth J.}, year={2020}, month=may }

Rolling Soft Membrane-Driven Tensegrity Robots

Authors:

Robert L. Baines
Joran W. Booth
Rebecca Kramer-Bottiglio

Bibtex:

 @article{Baines_2020, title={Rolling Soft Membrane-Driven Tensegrity Robots}, volume={5}, ISSN={2377-3774}, url={http://dx.doi.org/10.1109/lra.2020.3015185}, DOI={10.1109/lra.2020.3015185}, number={4}, journal={IEEE Robotics and Automation Letters}, publisher={Institute of Electrical and Electronics Engineers (IEEE)}, author={Baines, Robert L. and Booth, Joran W. and Kramer-Bottiglio, Rebecca}, year={2020}, month=oct, pages={6567–6574} }

Selection of actuation mode for tensegrity mechanisms: The case study of the actuated Snelson cross

Authors:

Jeremy Begey
Marc Vedrines
Nicolas Andreff
Pierre Renaud

Bibtex:

 @article{Begey_2020, title={Selection of actuation mode for tensegrity mechanisms: The case study of the actuated Snelson cross}, volume={152}, ISSN={0094-114X}, url={http://dx.doi.org/10.1016/j.mechmachtheory.2020.103881}, DOI={10.1016/j.mechmachtheory.2020.103881}, journal={Mechanism and Machine Theory}, publisher={Elsevier BV}, author={Begey, Jeremy and Vedrines, Marc and Andreff, Nicolas and Renaud, Pierre}, year={2020}, month=oct, pages={103881} }

Tensegrity Modelling and the High Toughness of Spider Dragline Silk

Authors:

Fernando Fraternali
Nicola Stehling
Ada Amendola
Bryan Andres Tiban Anrango
Chris Holland
Cornelia Rodenburg

Bibtex:

 @article{Fraternali_2020, title={Tensegrity Modelling and the High Toughness of Spider Dragline Silk}, volume={10}, ISSN={2079-4991}, url={http://dx.doi.org/10.3390/nano10081510}, DOI={10.3390/nano10081510}, number={8}, journal={Nanomaterials}, publisher={MDPI AG}, author={Fraternali, Fernando and Stehling, Nicola and Amendola, Ada and Tiban Anrango, Bryan Andres and Holland, Chris and Rodenburg, Cornelia}, year={2020}, month=jul, pages={1510} }

Truncated regular octahedral tensegrity-based mechanical metamaterial with tunable and programmable Poisson's ratio

Authors:

Xu Yin
Zhi-Ying Gao
Shuai Zhang
Li-Yuan Zhang
Guang-Kui Xu

Bibtex:

 @article{Yin_2020, title={Truncated regular octahedral tensegrity-based mechanical metamaterial with tunable and programmable Poisson’s ratio}, volume={167}, ISSN={0020-7403}, url={http://dx.doi.org/10.1016/j.ijmecsci.2019.105285}, DOI={10.1016/j.ijmecsci.2019.105285}, journal={International Journal of Mechanical Sciences}, publisher={Elsevier BV}, author={Yin, Xu and Gao, Zhi-Ying and Zhang, Shuai and Zhang, Li-Yuan and Xu, Guang-Kui}, year={2020}, month=feb, pages={105285} }

Variable-stiffness tensegrity spine

Authors:

Davide Zappetti
Roc Arandes
Enrico Ajanic
Dario Floreano

Bibtex:

 @article{Zappetti_2020, title={Variable-stiffness tensegrity spine}, volume={29}, ISSN={1361-665X}, url={http://dx.doi.org/10.1088/1361-665x/ab87e0}, DOI={10.1088/1361-665x/ab87e0}, number={7}, journal={Smart Materials and Structures}, publisher={IOP Publishing}, author={Zappetti, Davide and Arandes, Roc and Ajanic, Enrico and Floreano, Dario}, year={2020}, month=jun, pages={075013} }

2019: 1 Papers

Exploring the Behavior Repertoire of a Wireless Vibrationally Actuated Tensegrity Robot
Authors:
- Zongliang Ji
Abstract:
Soft robotics is an emerging field of research due to its potential to explore and operate in unstructured, rugged, and dynamic environments. However, the properties that make soft robots compelling also make them difficult to robustly control. Here at Union, we developed the world’s first wireless soft tensegrity robot. The goal of my thesis is to explore effective and efficient methods to explore the diverse behavior our tensegrity robot. We will achieve that by applying state-of-art machine learning technique and a novelty search algorithm.
Links:
- Paper

2018”: 1 Papers

Development of a Fully Instrumented, Resonant Tensegrity Strut
Authors:
- Kentaro Barhydt
Abstract:
A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies. In order to observe this potential phenomenon, a fully instrumented tensegrity strut module capable of actuating the resonant modes of a vibrating tensegrity and observing the dynamics of its individual struts was developed. The strut consists of a laser-cut acrylic base, a custom DC vibration motor, a 6-axis IMU with onboard data collection, and Bluetooth connectivity for wireless control. Single strut vibration was theoretically modeled and validated against the experimentally observed dynamics. The final iteration of this design successfully actuated the resonant modes of the tensegrity and achieved sufficient motion capture capabilities with a sampling rate of 425 Hz. Additionally, experimental testing with the strut revealed a new frequency-locking phenomenon present in the frequency response of the strut’s vibration.
Links:
- Paper

2018: 5 Papers

A Better Way to Construct Tensegrities: Planar Embeddings Inform Tensegrity Assembly
Authors:
- Andy Ricci
Abstract:
Although seemingly simple, tensegrity structures are complex in nature which makes them both ideal for use in robotics and difficult to construct. We work to develop a protocol for constructing tensegrities more easily. We consider attaching a tensegrity's springs to the appropriate locations on some planar arrangement of attached struts. Once all of the elements of the structure are connected, we release the struts and allow the tensegrity to find its equilibrium position. This will allow for more rapid tensegrity construction. We develop a black-box that given some tensegrity returns a flat-pack, or the information needed to perform this physical construction.
Links:
- Paper
Bibtex:
```
 @inproceedings{Ricci2018ABW, title={A Better Way to Construct Tensegrities: Planar Embeddings Inform Tensegrity Assembly}, author={Andy A. Ricci}, year={2018} } 
```
Adaptive and Resilient Soft Tensegrity Robots
Authors:
- John Rieffel
- Jean-Baptiste Mouret
Abstract:
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these same properties to create resilient machines. The nature of soft materials, however, presents considerable challenges to aspects of design, construction, and control—and up until now, the vast majority of gaits for soft robots have been hand-designed through empirical trial-and-error. This article describes an easy-to-assemble tensegrity-based soft robot capable of highly dynamic locomotive gaits and demonstrating structural and behavioral resilience in the face of physical damage. Enabling this is the use of a machine learning algorithm able to discover effective gaits with a minimal number of physical trials. These results lend further credence to soft-robotic approaches that seek to harness the interaction of complex material dynamics to generate a wealth of dynamical behaviors.

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts

Authors:

Francisco Carreño
Mark A. Post

Bibtex:

 @article{Carre_o_2018, title={Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts}, volume={5}, ISSN={2197-3768}, url={http://dx.doi.org/10.1186/s40638-018-0084-8}, DOI={10.1186/s40638-018-0084-8}, number={1}, journal={Robotics and Biomimetics}, publisher={Springer Science and Business Media LLC}, author={Carreño, Francisco and Post, Mark A.}, year={2018}, month=may }

Designing a Wireless PCB Tensegrity Strut
Authors:
- Mitchell Clifford
Abstract:
Tensegrity robots are a form of soft robotics useful because their form stabilization is based on internal tension rather than gravity. This type of stabilization allows their structure to deform but still return to their original shape regardless of environment. The challenge with Tensegrity robots is creating a control system that allows them to locomote freely. This proposed design will create a battery powered wireless strut fabricated from PCB for the Tensegrity robot that is self-powered, is able to send and receive data, and can control a DC vibration motor. The goal is to control the dynamics of the tensegrity through the vibrations of the struts in order to allow the robot to locomote. The parts were selected based on their ability to control the motor, as well as send vibration data to a control computer wirelessly. This will allow better implementation for the genetic algorithms used. The prototype PCB strut withstood structural tests, however, because of improper tools, little of the design was validated. Despite this, the use of PCB positively impacted the size and durability of each strut and will be a useful material for further testing.
Links:
- Paper
Optimizing Tensegrity Gaits Using Bayesian Optimization Robotics
Authors:
- James Boggs
Abstract:
We design and implement a new, modular, more complex tensegrity robot featuring data collection and wireless communication and operation as well as necessary accompanying research infrastructure. We then utilize this new tensegrity to assess previous research on using Bayesian optimization to generate effective forward gaits for tensegrity robots. Ultimately, we affirm the conclusions of previous researchers, demonstrating that Bayesian optimization is statistically significantly (p < 0:05) more effective at discovering useful gaits than random search. We also identify several flaws in our new system and identify means of addressing them, paving the way for more effective future research.
Links:
- Paper
Bibtex:
```
 @inproceedings{Boggs2018OptimizingTG, title={Optimizing Tensegrity Gaits Using Bayesian Optimization}, author={James Boggs}, year={2018} } 
```

2014: 2 Papers

DuCTT: A tensegrity robot for exploring duct systems Robotics
Authors:
- Jeffrey Friesen
- Alexandra Pogue
- Thomas Bewley
- Mauricia de Oliveira
- Robert Skelton
- Vytas Sunspiral
Abstract:
A robot with the ability to traverse complex duct systems requires a large range of controllable motions as well as the ability to grip the duct walls in vertical shafts. We present a tensegrity robot with two linked tetrahedral frames, each containing a linear actuator, connected by a system of eight actuated cables. The robot climbs by alternately wedging each tetrahedron within the duct and moving one tetrahedron relative to the other. We first introduce our physical prototype, called DuCTT (Duct Climbing Tetrahedral Tensegrity). We next discuss the inverse kinematic control strategy used to actuate the robot and analyze the controller's capabilities within a physics simulation. Finally, we discuss the hardware prototype and compare its performance with simulation.
Links:
- Paper
Bibtex:
```
" @INPROCEEDINGS{6907473,
  author={Friesen, Jeffrey and Pogue, Alexandra and Bewley, Thomas and de Oliveira, Mauricio and Skelton, Robert and Sunspiral, Vytas},
  booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  title={DuCTT: A tensegrity robot for exploring duct systems},
  year={2014}, 
  volume={},
  number={},
  pages={4222-4228},
  doi={10.1109/ICRA.2014.6907473}} "
```
Growing and Evolving Soft Robots
Authors:
- John Rieffel
- Davis Knox
- Schuyler Smith
- Barry Trimmer
Abstract:
Completely soft and flexible robots offer to revolutionize fields ranging from search and rescue to endoscopic surgery. One of the outstanding challenges in this burgeoning field is the chicken-and-egg problem of body-brain design: Development of locomotion requires the preexistence of a locomotion-capable body, and development of a location-capable body requires the preexistence of a locomotive gait. This problem is compounded by the high degree of coupling between the material properties of a soft body (such as stiffness or damping coefficients) and the effectiveness of a gait. This article synthesizes four years of research into soft robotics, in particular describing three approaches to the co-discovery of soft robot morphology and control. In the first, muscle placement and firing patterns are coevolved for a fixed body shape with fixed material properties. In the second, the material properties of a simulated soft body coevolve alongside locomotive gaits, with body shape and muscle placement fixed. In the third, a developmental encoding is used to scalably grow elaborate soft body shapes from a small seed structure. Considerations of the simulation time and the challenges of physically implementing soft robots in the real world are discussed.
Links:
- Paper

2009: 2 Papers

Automated discovery and optimization of large irregular tensegrity structures
Authors:
- John Rieffel
- Francisco
- Valero-Cuevas
- Hod Lipson
Abstract:
“Tensegrities consist of disjoint struts connected by tensile strings which maintain shape due to pre-stress stability. Because of their rigidity, foldability and deployability, tensegrities are becoming increasingly popular in engineering. Unfortunately few effective analytical methods for discovering tensegrity geometries exist. We introduce an evolutionary algorithm which produces large tensegrity structures, and demonstrate its efficacy and scalability relative to previous methods. A generative representation allows the discovery of underlying structural patterns. These techniques have produced the largest and most complex irregular tensegrities known in the field, paving the way toward novel solutions ranging from space antennas to soft robotics.”
Links:
- Paper
Evolving Soft Robotic Locomotion in PhysX
Authors:
- John Rieffel
- Frank Saunders
- Shilpa Nadimpalli
- Harvey Zhou
- Soha Hassoun
- Jason Rife
- Barry Trimmer
Abstract:
Given the complexity of the problem, genetic algorithms are one of the more promising methods of discovering control schemes for soft robotics. Since physically embodied evolution is time consuming and expensive, an outstanding challenge lies in developing fast and suitably realistic simulations in which to evolve soft robot gaits. We describe two parallel methods of using NVidia's PhysX, a hardware-accelerated (GPGPU) physics engine, in order to evolve and optimize soft bodied gaits. The first method involves the evolution of open-loop gaits using a reduced-order lumped parameter model. The second method involves harnessing PhysX's soft-bodied material simulation capabilites. In each case we discuss the the challenges and possibilities involved in using the PhysX for evolutionary soft robotics.
Links:
- Paper

2008: 1 Papers

Mechanism as Mind, What Tensegrities and Caterpillars Can Teach Us about Soft Robotics
Authors:
- John Rieffel
- Barry Trimmer
- Hod Lipson
Abstract:
“With recent advances in materials, interest is being applied to the idea of robots with few if any rigid parts, able to substantially deform themselves in order to flow around, and even through objects. In order to accomplish these goals in an efficient and affordable manner, space and power will be at a premium, and so soft robots will most likely be both underactuated and under-controlled. One approach to actuation and control lies in embodying portions of both tasks within the structural dynamics of the robot itself. Such ”morphological computation” is known to exist throughout the biological world, from the behavior of cellular cytoskeletons up to the tendinous network of the human hand. Here we present two examples of morphological computation - one from biology, the manduca sexta caterpillar, and one from engineering, a modular tensegrity tower - and explore how ideas from these realms can be applied toward locomotion and control of a highly articulate, under-controlled, soft robot.”
Links:
- Paper

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2025: 7 Papers

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2024: 18 Papers

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