NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Hardware Design and Testing of SUPERball, A Modular Tensegrity RobotWe are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.
Document ID
20140011157
Document Type
Conference Paper
Authors
Sabelhaus, Andrew P. (California Univ. Berkeley, CA, United States)
Bruce, Jonathan (California Univ. Santa Cruz, CA, United States)
Caluwaerts, Ken (Ghent Univ. Belgium)
Chen, Yangxin (California Univ. Berkeley, CA, United States)
Lu, Dizhou (California Univ. Berkeley, CA, United States)
Liu, Yuejia (California Univ. Berkeley, CA, United States)
Agogino, Adrian K. (California Univ. Santa Cruz, CA, United States)
SunSpiral, Vytas (Stinger Ghaffarian Technologies, Inc. (SGT, Inc.) Moffett Field, CA, United States)
Agogino, Alice M. (California Univ. Berkeley, CA, United States)
Date Acquired
August 29, 2014
Publication Date
July 15, 2014
Subject Category
Mechanical Engineering
Cybernetics, Artificial Intelligence and Robotics
Report/Patent Number
ARC-E-DAA-TN15339
Meeting Information
2014 Edition of the World Conference on Structural Control and Monitoring (WCSCM)(Barcalona)
Funding Number(s)
CONTRACT_GRANT: NSF DGE-1106400
CONTRACT_GRANT: NAS2-03144
CONTRACT_GRANT: NNA08CG83C
Distribution Limits
Public
Copyright
Public Use Permitted.
Keywords
Tensegrity
Modular
Robotics

Available Downloads

NameType 20140011157.pdf STI