A segmental mobile robot with active tensegrity bending and noise-driven oscillators

Abstract

Tensegripede, the first prototype in a new series of modular, biologically inspired robots is presented. The robot platform is used to test innovative mechanical and controller designs. The robot is comprised of rigid body segments joined via tensegrity joint structures. These joints provide compliance to the structure and can be actuated via drive cables to change relative segment orientation. The tensegrity connections allow the robot to actively steer and rear body segments to navigate over and around obstacles. Tensegripede is capable of climbing objects up to 0.75 times the wheel diameter without rearing and can rear to heights of 1.13 times the wheel diameter. Tensegripede employs a new biologically inspired motor controller using stable heteroclinic channels to control motor speed with a simple PWM-like scheme.