Spherical mobile robot based on a tensegrity structure with curved compressed members

Abstract

The use of mechanically compliant tensegrity structures in mobile robots is an attractive research topic. This paper describes a new concept for rolling locomotion of mobile robots based on tensegrity structures. In particular, an untethered locomotion system based on a simple tensegrity structure, consisting of two rigid disconnected compressed curved members connected to a continuous net of twelve prestressed tensioned members with pronounced elasticity, is considered. The locomotion is induced by the movement of two internal masses. The working principle of the system is discussed with the help of kinematic considerations and verified with experimental tests.