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Jeong J, Kim I, Choi Y, Lim S, Kim S, Kang H, Shah D, Baines R, Booth JW, Kramer-Bottiglio R, Kim SY. Spikebot: A Multigait Tensegrity Robot with Linearly Extending Struts. Soft Robot 2024; 11:207-217. [PMID: 37819709 PMCID: PMC11035858 DOI: 10.1089/soro.2023.0030] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/13/2023] Open
Abstract
Numerous recent research efforts have leveraged networks of rigid struts and flexible cables, called tensegrity structures, to create highly resilient and packable mobile robots. However, the locomotion of existing tensegrity robots is limited in terms of both speed and number of distinct locomotion modes, restricting the environments that a robot is capable of exploring. In this study, we present a tensegrity robot inspired by the volumetric expansion of Tetraodontidae. The robot, referred to herein as Spikebot, employs pneumatically actuated rigid struts to expand its global structure and produce diverse gaits. Spikebot is composed of linear actuators that dually serve as rigid struts linked by elastic cables for stability. The linearly actuating struts can selectively protrude to initiate thrust- and instability-driven locomotion primitives. Such motion primitives allow Spikebot to reliably locomote, achieving rolling, lifting, and jumping. To highlight Spikebot's potential for robotic exploration, we demonstrate how it achieves multi-dimensional locomotion over varied terrestrial conditions.
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Affiliation(s)
- Jinwook Jeong
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Injoong Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Yunyeong Choi
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Seonghyeon Lim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Seungkyu Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Hyeongwoo Kang
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
| | - Dylan Shah
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Robert Baines
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Joran W. Booth
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Rebecca Kramer-Bottiglio
- Department of Mechanical Engineering and Materials Science, Yale University, New Haven, Connecticut, USA
| | - Sang Yup Kim
- Department of Mechanical Engineering, Sogang University, Seoul, Republic of Korea
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