Adaptive Stiffness: A Biomimetic Robotic System with Tensegrity-Based Compliant Mechanism

TL;DR

This paper introduces a tensegrity-based robotic system inspired by vertebrate physiology, enabling adaptable stiffness and versatile movements in constrained environments, bridging the gap between biomimetic design and practical robotic applications.

Contribution

The research develops a novel tensegrity-based robotic system with rigid-flex coupling and compliant mechanisms, enhancing mobility and stiffness adaptability inspired by biological musculoskeletal features.

Findings

Achieves wide range of motions with variable stiffness

Demonstrates potential for complex locomotion in constrained spaces

Provides a practical framework for biomimetic tensegrity robots

Abstract

Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in fabrication, however, has posed technical challenges and mechanical complexity, thereby underscoring a noticeable gap between research and practice. To address the limitation, the research draws inspiration from the unique musculoskeletal feature of vertebrate physiology, which displays significant capabilities for sophisticated locomotion. The research converts the biological paradigm into a tensegrity-based robotic system, which is formed by the design of rigid-flex coupling and a compliant mechanism. This integrated technique enables the robot to achieve a wide range of motions with variable stiffness and adaptability, holding great potential for advanced performance in ill-defined environments. In summation, the research aims to provide a robust foundation for tensegrity-based biomimetic robots in practice, enhancing the feasibility of undertaking intricate robotic constructions.