Variable-stiffness tensegrity spine

@article{Zappetti2020VariablestiffnessTS,
  title={Variable-stiffness tensegrity spine},
  author={Davide Zappetti and Roc Arandes and Enrico Ajanic and Dario Floreano},
  journal={Smart Materials and Structures},
  year={2020},
  volume={29}
}
Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, unlike their natural counterparts, current robotic spine systems do not display robustness or cannot adjust their stiffness according to their task. In this paper, we describe a novel variable-stiffness tensegrity spine, which uses an active… 
View on IOP Publishing
infoscience.epfl.ch
10 Citations
Background Citations
4

10 Citations

Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending

In this study, we present a tensegrity robot arm that can reproduce the features of complex musculoskeletal structures, and can bend like a continuum manipulator. In particular, we propose a design…

Development of a Modular Tensegrity Robot Arm Capable of Continuous Bending

TLDR
This study presents a tensegrity robot arm that can reproduce the features of complex musculoskeletal structures, and can bend like a continuum manipulator, based on a design method based on utilizing simple and flexible strict tense grity modules and connecting them recursively so that they remain strict tenseGrity even after being connected.

Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator

In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous…

Active tensegrity structures based on dielectric elastomer actuators

Robotic systems based on tensegrity structures have been widely studied in recent years due to their unique characteristics such as lightweight property, deformability, and modularity. These features…

Tensegrity Robotics.

TLDR
Progress in the burgeoning field of tensegrity robotics is reviewed, highlighting several emerging challenges, including automated design, state sensing, and kinodynamic motion planning.

Shape Estimation of Soft Manipulators using Piecewise Continuous Pythagorean-Hodograph Curves

TLDR
This paper mathematically model the manipulator shape using multiple piecewise continuous quintic Pythogorean-Hodograph (PH) curves to estimate the shape of a soft continuum manipulator, and investigates the robustness of the algorithm by adding variation to the direction cosines, and compare the output shapes.

The equilibrium and form-finding of general tensegrity systems with rigid bodies

Morphing-Enabled Path Planning for Flying Tensegrity Robots as a Semidefinite Program

TLDR
A method is proposed that takes advantage of a simplified encoding of the drone’s shape, allowing to turn the path planning into a sequence of semidefinite programs, speeding up the algorithm execution.

A tensegrity-based morphing module for assembling various deployable structures

A review on tensegrity structures-based robots

References

SHOWING 1-10 OF 44 REFERENCES

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for…

THE TENSEGRITY-TRUSS AS A MODEL FOR SPINE MECHANICS: BIOTENSEGRITY

The commonly accepted "tower of blocks" model for vertebrate spine mechanics is only useful when modeling a perfectly balanced, upright, immobile spine. Using that model, in any other position than…

Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling

TLDR
The design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter is presented, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators.

From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism

TLDR
A novel hyperredundant mechanism based upon the human spine for structure and actuation, named ERMIS is presented, and it will be shown that the vertebrae-intervertebral disk arrangement can be emulated by a spherical-type configuration, the proposed Disk-Ball-Disk joint.

Design and Manufacturing a Bio-inspired Variable Stiffness Mechanism in a Robotic Dolphin

TLDR
This paper finds the appropriate design of the bio-inspired variable stiffness mechanism for applying to a robotic dolphin and presents a design and manufacturing procedure using this mechanism which was developed before.

A lightweight, multi-axis compliant tensegrity joint

TLDR
A lightweight, multi-axis compliant tensegrity joint that is biologically inspired by the human elbow is presented, which addresses the need for functional redundancy and flexibility, traits which are required for many applications that investigate the use of biologically accurate robotic models.

A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery

TLDR
A new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness is presented, a unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation.

Goal-Directed CPG-Based Control for Tensegrity Spines with Many Degrees of Freedom Traversing Irregular Terrain

TLDR
This approach seeks to maximize the low-level competence of the control system, by combining local reflexes with structural compliance, and is, to the authors' knowledge, the first example of a robot controlled by CPGs that is simultaneously capable of goaldirected behavior and locomotion on irregular terrain.

Goal-Directed CPG-Based Control for Tensegrity Spines with Many Degrees of Freedom Traversing Irregular Terrain

TLDR
This work develops a series of tensegrity spines as an abstraction of the many degrees of freedom (DOF) compliant spines seen in nature, with full six DOF between vertebrae (constrained by a tensile network), providing insight into control strategies for such many DOF and compliant systems, which lack the rigidly connected segments needed by traditional control.

Bio-inspired Tensegrity Soft Modular Robots

TLDR
A design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells is introduced and a tendon-driven contraction mechanism to actively control the deformation of the tenseGrity modules is described.