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Spikebot: A Multigait Tensegrity Robot with Linearly Extending Struts.

Jinwook Jeong1, Injoong Kim1, Yunyeong Choi1

  • 1Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea.

Soft Robotics
|October 11, 2023
PubMed
Summary

This study introduces Spikebot, a novel tensegrity robot inspired by fish. Spikebot uses pneumatic actuation for enhanced locomotion, enabling rolling, lifting, and jumping for versatile exploration.

Keywords:
multigaitpneumatic actuationpuffer fishsoft roboticstensegrity

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Biomimetics

Background:

  • Tensegrity structures offer resilience and packability for mobile robots.
  • Existing tensegrity robots have limited locomotion speed and modes, restricting exploration capabilities.

Purpose of the Study:

  • To present a novel tensegrity robot, Spikebot, inspired by the volumetric expansion of Tetraodontidae (pufferfish).
  • To overcome locomotion limitations of current tensegrity robots and enable diverse gaits for enhanced exploration.

Main Methods:

  • Spikebot utilizes pneumatically actuated rigid struts that also function as linear actuators, linked by elastic cables.
  • Selective protrusion of struts initiates thrust- and instability-driven locomotion primitives.
  • The robot's global structure expands volumetrically for dynamic movement.

Main Results:

  • Spikebot demonstrates reliable multi-dimensional locomotion, including rolling, lifting, and jumping.
  • The robot achieves diverse gaits through its unique actuation mechanism.
  • Successful locomotion was demonstrated over varied terrestrial conditions.

Conclusions:

  • Spikebot represents a significant advancement in tensegrity robot locomotion.
  • The robot's design expands the potential for robotic exploration in challenging environments.
  • Pneumatic actuation in tensegrity structures offers a promising avenue for future mobile robot development.