Impact-resistant, autonomous robots inspired by tensegrity architecture
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2025
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866917903145631744 |
|---|---|
| author | Johnson III, William R. Huang, Xiaonan Lu, Shiyang Wang, Kun Booth, Joran W. Bekris, Kostas Kramer-Bottiglio, Rebecca |
| author_facet | Johnson III, William R. Huang, Xiaonan Lu, Shiyang Wang, Kun Booth, Joran W. Bekris, Kostas Kramer-Bottiglio, Rebecca |
| contents | Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities expected of rigid robots. Inspired by tensegrity architecture, we introduce a tensegrity robot -- a hybrid robot made from rigid struts and elastic tendons -- that demonstrates the advantages of compliance and the autonomy necessary for task performance. This robot boasts impact resistance and autonomy in a field environment and additional advances in the state of the art, including surviving harsh impacts from drops (at least 5.7 m), accurately reconstructing its shape and orientation using on-board sensors, achieving high locomotion speeds (18 bar lengths per minute), and climbing the steepest incline of any tensegrity robot (28 degrees). We characterize the robot's locomotion on unstructured terrain, showcase its autonomous capabilities in navigation tasks, and demonstrate its robustness by rolling it off a cliff. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_15078 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Impact-resistant, autonomous robots inspired by tensegrity architecture Johnson III, William R. Huang, Xiaonan Lu, Shiyang Wang, Kun Booth, Joran W. Bekris, Kostas Kramer-Bottiglio, Rebecca Robotics Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities expected of rigid robots. Inspired by tensegrity architecture, we introduce a tensegrity robot -- a hybrid robot made from rigid struts and elastic tendons -- that demonstrates the advantages of compliance and the autonomy necessary for task performance. This robot boasts impact resistance and autonomy in a field environment and additional advances in the state of the art, including surviving harsh impacts from drops (at least 5.7 m), accurately reconstructing its shape and orientation using on-board sensors, achieving high locomotion speeds (18 bar lengths per minute), and climbing the steepest incline of any tensegrity robot (28 degrees). We characterize the robot's locomotion on unstructured terrain, showcase its autonomous capabilities in navigation tasks, and demonstrate its robustness by rolling it off a cliff. |
| title | Impact-resistant, autonomous robots inspired by tensegrity architecture |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.15078 |