Actuation Optimization of Tensegrity Robotics Based on Minimization of Input Energy

Area of Science:

• Robotics
• Mechanical Engineering
• Optimization

Background:

• Spherical tensegrity robots (TR-6) offer lightweight, robust, and adaptable locomotion.
• Their symmetric structure is ideal for rolling and navigating unstructured terrains.
• Significant structural deformability enhances kinematic performance.

Purpose of the Study:

• To minimize the actuation cost for tumbling motion in the TR-6 robot.
• To develop an energy-efficient propelling model for tensegrity robots.
• To investigate actuation strategies for reduced energy consumption.

Main Methods:

• A hybrid optimization framework combining beetle antennae and genetic algorithms was employed.
• An energy-efficient propelling model formulated with strain energy discrepancy as the objective function.
• Nonrigid-body motion analysis determined equilibrium posture under unbalanced forces.

Main Results:

• The proposed method effectively identifies actuation strategies for reduced energy consumption.
• Multibody dynamic simulations (ADAMS) and physical experiments validated the approach.
• Demonstrated effective minimization of actuation cost for TR-6 tumbling motion.

Conclusions:

• The hybrid optimization framework successfully reduces energy consumption for TR-6 locomotion.
• The method can be extended to other multi-strut or strut-actuated tensegrity robotic systems.
• This research contributes to more energy-efficient and robust tensegrity robot designs.