Bio-inspired Tensegrity Soft Modular Robots

TL;DR

This paper presents a bio-inspired design for soft modular robots using tensegrity structures, fabricated with planar techniques, featuring programmable stiffness and active deformation control, demonstrated through a modular worm prototype.

Contribution

It introduces a novel tensegrity-based design principle for soft modular robots, utilizing planar manufacturing and active control mechanisms, inspired by cellular cytoskeletons.

Findings

Successful fabrication of icosahedron tensegrity modules with variable stiffness

Active deformation control via tendon-driven mechanisms demonstrated

Modular locomotion achieved with the proposed design

Abstract

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.