22,253 research outputs found
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.Comment: 12 pages, 7 figures, submitted to Living Machine conference 201
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