2017-2018
Tensegrity structure is a newly-developed structure built with compressive and tensile parts. In this undergraduate research project, I studied the theory and control method for the rolling of a six-rod spherical tensegrity robot, which has great potentials for planetary exploration. I hope my experimental results would be helpful for deeper understanding of tensegrity structure and its inherent properties so as to promote the study of more effective locomotion control for this kind of robots.
NTRTsim (a robot simulation toolbox developed by NASA) and MATLAB simulations are two important parts of my work. I've done several simulations using evolutionary algorithm and CPG control to generate different gaits for a 6-bar tensegrity robot.
