The goal of this Master project was to develop central pattern generator (CPG) based controls for a Planetary Exploration Tensegrity Robot. Development occured primarily in a physics-based tensegrity simulator, and involved an exploration of various candidate tensegrity structures and associated controls to roll the robot over various terrains. Tensegrity structures are uniquely appropriate for distributed CPG based control due to their compliant tension network which mirrors the properties of the CPG network. It is believed that tensegrity robot technology can play a critical role in future planetary exploration.
Artist view of tensegrity robots on the surface of Titan