Alexander A Lim

US Patent:

20200061810, Feb 27, 2020

Filed:

Nov 10, 2016

Appl. No.:

15/774112

Inventors:

- Oakland CA, US
Azhar Khaderi - Berkeley CA, US
Alexander Y. Lim - Berkeley CA, US
Kyunam Kim - Albany CA, US
Deaho Moon - Berkeley CA, US
Peadar Keegan - Berkeley CA, US
Alice M. Agogino - Berkeley CA, US
Adrian Agogino - San Jose CA, US

Assignee:

The Regents of the University of California - Oakland CA

International Classification:

B25J 9/10
B62D 57/02

Abstract:

According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.