公开(公告)号：US20200061810A9

公开(公告)日：2020-02-27

申请号：US15774112

申请日：2016-11-10

Applicant: The Regents of the University of California

Inventor： Lee-Huang Chen ,  Azhar Khaderi ,  Alexander Y. Lim ,  Kyunam Kim ,  Deaho Moon ,  Peadar Keegan ,  Alice M. Agogino ,  Adrian Agogino

IPC: B25J9/10 ,  B62D57/02

Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.

公开(公告)号：US20180326577A1

公开(公告)日：2018-11-15

申请号：US15774112

申请日：2015-11-10

Applicant: The Regents of the University of California

Inventor： Lee-Huang Chen ,  Azhar Khaderi ,  Alexander Y. Lim ,  Kyunam Kim ,  Deaho Moon ,  Peadar Keegan ,  Alice M. Agogino ,  Adrian Agogino

IPC: B25J9/10 ,  B62D57/02

Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.