Dual Stiffness Tensegrity Platform for Resilient Robotics

Collision resilience is an important feature of robots deployed in unstructured and partially unpredictable environments. Herein, a novel dual stiffness (DS) tensegrity platform to integrate collision resilience into a robot body is proposed. The proposed DS tensegrity platform is rigid during normal robot operation, but softens upon collision to withstand the impact. The DS behavior is achieved by means of a novel DS strut that is rigid, but can buckle without breaking under high loads, thus preventing damage to the robot. Compression tests and finite element method simulations show that both the DS struts and DS tensegrities undergo substantial stiffness change with maximum load‐bearing ratios up to 10.5 and 5.74, respectively, before and after buckling. These DS tensegrity structures are integrated into two types of robots, a drone and a rover, that are shown to withstand falls from 2 and 5 m, respectively. The mechanical tunability of the proposed DS tensegrity system makes it suitable for impact attenuation in a wide range of situations and robot types.

Location
Deutsche Nationalbibliothek Frankfurt am Main
Extent
Online-Ressource
Language
Englisch

Bibliographic citation
Dual Stiffness Tensegrity Platform for Resilient Robotics ; day:13 ; month:05 ; year:2022 ; extent:9
Advanced intelligent systems ; (13.05.2022) (gesamt 9)

Creator
Zappetti, Davide
Sun, Yi
Gevers, Matthieu
Mintchev, Stefano
Floreano, Dario

DOI
10.1002/aisy.202200025
URN
urn:nbn:de:101:1-2022051315364691919318
Rights
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
Last update
15.08.2025, 7:33 AM CEST

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