Design and Control of Modular Spine-Like Tensegrity Structures

摘要

We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.