Tensegrity Robotics
Abstract
Tensegrity robots are a form of soft robotics useful
because their form stabilization is based on internal
tension rather than gravity. This type of stabilization
allows their structure to deform but still return to
their original shape regardless of environment. The
challenge with Tensegrity robots is creating a
control system that allows them to locomote freely.
This proposed design will create a battery powered
wireless strut fabricated from PCB for the
Tensegrity robot that is self-powered, is able to
send and receive data, and can control a DC
vibration motor. The goal is to control the dynamics
of the tensegrity through the vibrations of the struts
in order to allow the robot to locomote. The parts
were selected based on their ability to control the
motor, as well as send vibration data to a control
computer wirelessly. This will allow better
implementation for the genetic algorithms used.
The prototype PCB strut withstood structural tests,
however, because of improper tools, little of the
design was validated. Despite this, the use of PCB
positively impacted the size and durability of each
strut and will be a useful material for further testing.
- Awarded the Alice and Donald C. Loughry '52 Prize for best Electrical Engineering Senior Project 2018
