Elastic lattices for design of tensegrity structures and robots

Abstract

According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members; and a plurality of interconnecting tensile members connected to the plurality of compressive members to form a spatially defined structure without the plurality of compressive members forming direct load-transmitting connections with each other. The plurality of interconnecting tensile members forms a lattice, and the lattice comprises an elastic material.

1 . A tensegrity robot, comprising:
 a plurality of compressive members; and   a plurality of interconnecting tensile members connected to said plurality of compressive members to form a spatially defined structure without said plurality of compressive members forming direct load-transmitting connections with each other,   wherein said plurality of interconnecting tensile members forms a lattice, and   wherein said lattice comprises an elastic material.   
     
     
         2 . The tensegrity robot according to  claim 1 , wherein said plurality of interconnecting tensile members have an integral structure. 
     
     
         3 . The tensegrity robot according to  claim 1 , wherein each of said plurality of interconnecting tensile members has a same length. 
     
     
         4 . The tensegrity robot according to  claim 1 , wherein each of said plurality of interconnecting tensile members connects one of said plurality of compressive members to another of said plurality of compressive members. 
     
     
         5 . The tensegrity robot according to  claim 1 , wherein each of said plurality of interconnecting tensile members has a length that is shorter than a length of each of said plurality of compressive members when no force is applied to said plurality of interconnecting tensile members. 
     
     
         6 . The tensegrity robot according to  claim 1 , wherein said elastic material comprises silicone rubber. 
     
     
         7 . The tensegrity robot according to  claim 1 , wherein said plurality of interconnecting tensile members is cut from a flat sheet of said elastic material. 
     
     
         8 . The tensegrity robot according to  claim 1 , further comprising a plurality of junction members, wherein each of said plurality of junction members is configured to rigidly connect to one of said plurality of compressive members. 
     
     
         9 . The tensegrity robot according to  claim 1 , wherein said plurality of interconnecting tensile members includes a connection structure for connecting said plurality of interconnecting tensile members to one of said plurality of compressive members or to a junction member. 
     
     
         10 . The tensegrity robot according to  claim 9 , wherein said connection structure is a loop, wherein said loop is configured to encircle one of said plurality of junction members. 
     
     
         11 . The tensegrity robot according to  claim 1 , wherein said tensegrity robot includes six compressive members. 
     
     
         12 . The tensegrity robot according to  claim 1 , wherein each of said plurality of compressive members comprises a core rigidly fixed to a plurality of rods, each of said rods extending radially from said core. 
     
     
         13 . The tensegrity robot according to  claim 12 , wherein said plurality of compressive members are connected to said plurality of interconnecting tensile members such that said cores of said plurality of compressive members are linearly aligned. 
     
     
         14 . A tensegrity robot, comprising:
 a plurality of compressive members;   a plurality of first interconnecting tensile members connected to said plurality of compressive members to form a spatially defined structure without said plurality of compressive members forming direct load-transmitting connections with each other;   a plurality of second tensile members connected to said plurality of compressive members, each of said plurality of second tensile members being in parallel to one of said plurality of first interconnecting tensile members;   a plurality of actuators, each attached to one of said plurality of compressive members; and   a controller in communication with said plurality of actuators,   wherein said plurality of first interconnecting tensile members forms a lattice,   wherein said lattice comprises an elastic material, and   wherein each actuator of said plurality of actuators is operatively connected to a corresponding one of said plurality of second tensile members so as to selectively change a tension on said corresponding one of said plurality of second tensile members in response to commands from said controller to thereby change a center of mass of said tensegrity robot to effect movement thereof.   
     
     
         15 . The tensegrity robot of  claim 14 , wherein at least one of said plurality of actuators comprises a motor driven spool to wind up and release portions of a corresponding one of said plurality of second tensile members. 
     
     
         16 . The tensegrity robot of  claim 15 , wherein said controller controls said plurality of actuators such that two of said plurality of actuators simultaneously change a tension on a corresponding two of said plurality of second tensile members to thereby change said center of mass of said tensegrity robot to effect movement thereof. 
     
     
         17 . The tensegrity robot of one of  claim 14 , wherein said controller controls said plurality of actuators such that two of said plurality of actuators alternately change a tension on a corresponding two of said plurality of second tensile members to thereby change said center of mass of said tensegrity robot to effect movement thereof. 
     
     
         18 . The tensegrity robot according to  claim 14 , wherein said plurality of first interconnecting tensile members have an integral structure. 
     
     
         19 . A method of forming a tensegrity robot, comprising:
 cutting a plurality of interconnecting tensile members from a sheet of elastic material; and   connecting said plurality of interconnecting tensile members to a plurality of compressive members to form a spatially defined structure without said plurality of compressive members forming direct load-transmitting connections with each other,   wherein said plurality of interconnecting tensile members forms a lattice.   
     
     
         20 . The method forming a tensegrity robot according to  claim 19 , further comprising:
 connecting a plurality of second tensile members to said plurality of compressive members, each of said plurality of second tensile members being in parallel with one of said plurality of interconnecting tensile members; and   connecting a plurality of actuators to said plurality of compressive members, each one of said plurality of actuators being operatively connected to a corresponding one of said plurality of second tensile members so as to selectively change a tension on said corresponding one of said plurality of second tensile members to thereby change a center of mass of said tensegrity robot to effect movement thereof.