We present a general approach of design, dynamics, and control for tensegrity morphing
airfoils. Firstly, based on reduced order Class-k tensegrity dynamics, a shape control law for …

Tensegrity system dynamics is a subset of the class of multi-body dynamics which includes
cylindrical rigid bodies (bars) and elastic members (strings) arranged in a stabilizable …

Robots built from cable-driven tensegrity (tension-integrity') structures have many of the
advantages of soft robots, such as flexibility and robustness, yet still obey simple statics and …

This paper presents a new teleoperated spherical tensegrity robot capable of performing
locomotion on steep inclined surfaces. With a novel control scheme centered around the …

Twisted-coiled polymer actuators (TCA) have many interesting properties that show
potentials for making high performance bionic devices. This letter presents a long short term …

Robots with flexible spines based on tensegrity structures have potential advantages over
traditional designs with rigid torsos. However, these robots can be difficult to control due to …

This letter proposes two approaches to control the shape of the structure or the position of
the end effector for a soft-robotic application. The first approach is a model-based approach …

ABSTRACT A tensegrity tower design to support a given payload for the moon mining
operation is proposed in this paper. A non-linear optimization problem for the minimal-mass …

In recent years, there has been significant interest in use of soft and continuum manipulators
in diverse fields including surgical and agricultural robotics. Consequently, researchers …

A novel unified approach to jointly optimize structural design parameters, actuator and
sensor precision, and controller parameters is presented in this paper. The joint optimization …