Bio-inspired Tensegrity Soft Modular Robots

@inproceedings{Zappetti2017BioinspiredTS,
  title={Bio-inspired Tensegrity Soft Modular Robots},
  author={Davide Zappetti and Stefano Mintchev and Jun Shintake and Dario Floreano},
  booktitle={Living Machines},
  year={2017}
}
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… 
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