Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Torque Free Motion

Torque Free Motion

The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...

Plastic Deformation in Circular Shafts

Plastic Deformation in Circular Shafts

When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...

Muscle Coordination and Action

Muscle Coordination and Action

Muscle coordination is a complex and finely tuned process essential for smooth and purposeful movements like flexion, extension, adduction, abduction, and rotation. The human body orchestrates the actions of various muscles working in concert, each with a specific role. Four functional types describe how muscles work together: agonist, antagonist, synergist, and fixator.
Agonists
Agonist muscles, often called prime movers, are the primary muscles responsible for producing a specific movement....

Plastic Deformations

Plastic Deformations

It is essential to understand how structural members behave under plastic deformation when the bending stress exceeds the material's yield strength. This state of deformation permanently alters the shape of the member, in contrast to the linear elastic behavior observed before yielding. The strain at any point in the member is expressed in terms of maximum strain. Notably, the neutral axis, which coincides with the centroid during elastic bending, shifts away from the centroid under plastic...

Plastic Deformations

Plastic Deformations

Plastic deformation represents a fundamental concept in materials science, which explains the irreversible change in the shape of a material when it experiences stress beyond its elastic capability. This phenomenon is important in structural engineering, especially in designing and analyzing cantilever beams—structures that are securely fixed at one end and bear loads at the opposite end. When these beams are subjected to loads within their elastic range, they will return to their...

Three-Dimensional Force System:Problem Solving

Three-Dimensional Force System:Problem Solving

A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Topology and Morphology Design of Spherically Reconfigurable Homogeneous Modular Soft Robots.

Soft robotics·2022

Same author

Performance of a Deep-Learning Algorithm vs Manual Grading for Detecting Diabetic Retinopathy in India.

JAMA ophthalmology·2019

Same author

A Definition of Soft Materials for Use in the Design of Robots.

Soft robotics·2017

Same author

Bioinspired dynamic inclination measurement using inertial sensors.

Bioinspiration & biomimetics·2015

Search research articles

Related Experiment Video

Updated: Nov 19, 2025

Folding and Characterization of a Bio-responsive Robot from DNA Origami

Folding and Characterization of a Bio-responsive Robot from DNA Origami

Published on: December 3, 2015

Compact Shape Morphing Tensegrity Robots Capable of Locomotion.

Tyler Rhodes¹, Clayton Gotberg¹, Vishesh Vikas¹

¹Agile Robotics Lab (ARL), Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL, United States.

Frontiers in Robotics and AI

|January 27, 2021

Summary

This study presents a new fabrication method for tensegrity robots, enabling modular designs and enhanced locomotion on challenging terrains. The innovative approach facilitates shape morphing and smoother movement through curved links and internal mass shifting.

Keywords:

icosahedron robot locomotion shape morphing sphericon tensegrity tensegrity fabrication tensegrity mechanism tensegrity robot

More Related Videos

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Related Experiment Videos

Last Updated: Nov 19, 2025

Folding and Characterization of a Bio-responsive Robot from DNA Origami

Folding and Characterization of a Bio-responsive Robot from DNA Origami

Published on: December 3, 2015

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Area of Science:

Robotics
Mechanical Engineering
Materials Science

Background:

Tensegrity robots offer robustness, compactness, and portability for locomotion on unknown terrains.
Existing challenges include fabrication complexity, shape morphing, and locomotion control.
Novel design methodologies are needed to overcome these limitations.

Purpose of the Study:

To introduce a modular design methodology for fabricating tensegrity robots with diverse morphologies.
To explore techniques for simplifying fabrication and enabling shape morphing (packing-unpacking).
To investigate locomotion strategies that enhance movement on uneven surfaces.

Main Methods:

Utilized perforated links, 2D component alignment, and individual cable tensioning for 3D tensegrity structures.
Fabricated prism, icosahedron, and sphericon tensegrity structures.
Investigated locomotion via internal mass shifting and analyzed the impact of curved links.

Main Results:

Successfully fabricated tensegrity robots with varying morphologies (prism, icosahedron, sphericon).
Demonstrated shape morphing capabilities and locomotion through internal mass shifting.
Sphericon formation with curved links exhibited smooth, continuous locomotion, unlike traditional straight-link robots.

Conclusions:

The presented design methodology facilitates the fabrication of complex tensegrity robots with modular components.
Curved links in tensegrity mechanisms enable smoother locomotion by managing contact points during tip-over.
This work is a foundational step towards dynamic locomotion control for curved-link tensegrity robots.