Date of Award
3-2018
Document Type
Open Access
Degree Name
Bachelor of Science
Department
Computer Science
First Advisor
John Rieffel
Language
English
Keywords
robot, tensegrity, planar embedding, construction, soft robot
Abstract
Although seemingly simple, tensegrity structures are complex in nature which makes them both ideal for use in robotics and difficult to construct. We work to develop a protocol for constructing tensegrities more easily. We consider attaching a tensegrity's springs to the appropriate locations on some planar arrangement of attached struts. Once all of the elements of the structure are connected, we release the struts and allow the tensegrity to find its equilibrium position. This will allow for more rapid tensegrity construction. We develop a black-box that given some tensegrity returns a flat-pack, or the information needed to perform this physical construction.
Recommended Citation
Ricci, Elizabeth Anne, "A Better Way to Construct Tensegrities: Planar Embeddings Inform Tensegrity Assembly" (2018). Honors Theses. 1653.
https://digitalworks.union.edu/theses/1653