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A monolithic flexible tensegrity jumping robot with integrated steering, self-righting, and take-off angle control

Year: 2025

Type: conference-paper

Abstract: This paper presents a novel flexible tensegrity-based jumping robot that achieves multifunctional locomotion control solely through its deformable structure. The proposed design enables three essential capabilities, directional steering, take-off angle modulation, and autonomous self-righting, using only the inherent compliance of its flexible tensegrity architecture, eliminating the need for additional dedicated mechanisms. The energy storing and releasing mechanism is implemented through sets of planetary gears. Experiments show that the constructed robot can jump more than 420 mm high at a take-off angle of 85 degrees.

Source: Journal of Physics Conference Series

DOI: 10.1088/1742-6596/3097/1/012010

Authors: Jianhuan Chen, Tianyi Yan, Hao Wang, Genliang Chen

Institutions: Shanghai Jiao Tong University, State Key Laboratory of Mechanical System and Vibration

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: National Key Research and Development Program of China

Award: G6123337824