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Dynamic Tensegrity Robotics

NOTE: THIS PAGE IS NOT CURRENT -- EXCEPT THE RIGHT SIDEBAR, CONCERNING THE OPEN SOURCE RELEASE OF OUR TENSEGRITY SIMULATOR, WHICH WILL BE UPDATED AS THE SOFTWARE BECOMES PUBLICLY AVAILABLE.

THE BEST SOURCE OF OF CURRENT NEWS ON THE DYNAMIC TENSEGRITY ROBOTICS LAB CAN BE FOUND ON VYTAS SUNSPIRAL'S PERSONAL BLOG.


We have recently completed our Phase 1 Report for the NASA Innovative Advanced Concepts (NIAC) Program for our proposed "Super Ball Bot" Tensegrity lander mission concept. You can see the full report and links to published work on the NIAC program page!

The SuperBall Bot project now has its own page.

The Dynamic Tensegrity Robotics Project is developing novel approaches to robotics structures and controls which address fundamental challenges with manipulation and interaction with complex and dynamic environments.

You can see a blog post about recent work on our "Tensegrity Snake" robot.

I also gave a lecture on tensegrity robotics and how it relates to the human body. This was in early 2012 while I was visiting EPFL in Switzerland.

For a quick overview of this project, please see the following whitepaper. While slightly out of date, I intend to update this whitepaper soon with a current description of the project and goals and recent research results. If the embeded view is not working, you can download the paper directly.

NTRT Open Source Status

We are are in the process of releasing our tensegrity software tools as an open source project called the NASA Tensegrity Robotics Toolkit (NTRT), which will contain modeling and control algorithms we have developed, along with a physics based simulation environment for Tensegrity Robotics.

Currently we are patiently waiting review of the project from the Ames legal department and hope to release the first version of the NTRT in early 2014.

Our colleagues have released a solver using Euler-Lagrange algorithms developed by Robert Skelton, and enables analysis of landing forces and payload protection. Download E-L Solver

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