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Tensegrity Robots for Space Explora6on
Alice Agogino Adrian Agogino
Bay Area Robo6cs Symposium Oct. 23, 2015
NASA Early Stage Innova6on
Mul6use Planetary Rover
• PlaIorm for all three mission aspects – Deployment – Landing – Explora6on
Robot Built from Tensegrity Structures
• What is a tensegrity structure? – Structure build from rods and cables – Rods do not touch each other
Rods
Cables
Tensegrity
• Coined by Buck Minster Fuller • Art explored by Kennith Snelson in 1960’s
Synap6c Mo6on: Tensegrity-‐Inspired Dance (Colin Ho & Jodi Lomask)
Tensegrity and Biology
Copyright 2006 Tom Flemons Copyright 2006 Tom Flemons Dr. Donald Ingber, Harvard U.
Tensegrity Robots are Agile Robots
No Lever Arms
Forces Amplify
Forces Distribute
Mul6use Planetary Rover
• PlaIorm for all three mission aspects – Deployment – Landing – Explora6on
Mul6-‐Func6on: Unpacking, Landing, & Mobility
Hopping and Rolling Tensegrity Robots Kyunam Kim
UC Berkeley 2015 Bay Area Robotics Symposium
Tensegrity Impact Absorption
Hopping Rolling
Lunar Scou6ng Robot
Payload Thruster
Eject from main rover Use rockets for large movements
(NASA Early Stage Innova6on Program)
Lunar Scou6ng Robot
Hop close to des6na6on Many hopping profiles possible
UAV dropped Analog Demonstra6on Deploy from UAS
(Closeup)
SUPERBall Bird – Crash Proof Flight
Thruster & Payload
• Demo at 5:00 on in Hesse Hall
Diversifying Engineering
Thanks to NASA & Dynamic Tensegrity Team
ESI NASA Grant NNX15AD74G-‐Agogino: Precision Hopping/Rolling Robo1c Surface Probe Based on Tensegrity Structures