ArticleJournal of the Royal Society, Interface2014
Design and control of compliant tensegrity robots through simulation and hardware validation.
Article in Journal of the Royal Society, Interface, 2014. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers.
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Who cites it
19 citing papers in PubMed, 260 citations in OpenAlex.
- Research on the Range of Stiffness Variation in a 2D Biomimetic Spinal Structure Based on Tensegrity Structures.Biomimetics (Basel, Switzerland) · 2025Article
- Harnessing spatiotemporal transformation in magnetic domains for nonvolatile physical reservoir computing.Science advances · 2025Article
- 2-dimensional impact-damping electrostatic actuators with elastomer-enhanced auxetic structure.Nature communications · 2024Article
- Handwritten digit recognition by spin waves in a Skyrmion reservoir.Scientific reports · 2023Article
- From tensegrity to human organs-on-chips: implications for mechanobiology and mechanotherapeutics.The Biochemical journal · 2023Article
- Skeletonizing the Dynamics of Soft Continuum Body from Video.Soft robotics · 2022Article
- Natural quantum reservoir computing for temporal information processing.Scientific reports · 2022Article
- Designing Expandable-Structure Robots for Human-Robot Interaction.Frontiers in robotics and AI · 2022Review
- A Hopf physical reservoir computer.Scientific reports · 2021Article
- Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.Frontiers in neurorobotics · 2021Article
- Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending.Frontiers in robotics and AI · 2021Article
- Rolling Locomotion of Cable-Driven Soft Spherical Tensegrity Robots.Soft robotics · 2020Article
- Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures.Soft robotics · 2020Article
- Adaptive and Resilient Soft Tensegrity Robots.Soft robotics · 2018Article
- Programmable Deployment of Tensegrity Structures by Stimulus-Responsive Polymers.Scientific reports · 2017Article
- Fundamentals of soft robot locomotion.Journal of the Royal Society, Interface · 2017Review
- Morphological Properties of Mass-Spring Networks for Optimal Locomotion Learning.Frontiers in neurorobotics · 2017Article
- Information processing via physical soft body.Scientific reports · 2015Article
- Reward-Modulated Hebbian Plasticity as Leverage for Partially Embodied Control in Compliant Robotics.Frontiers in neurorobotics · 2015Article
Corrections and comments
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Authors and funding
7 authors at 3 institutions in 3 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ('tensile-integrity') structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.