Shape changing locomotion systems based on tensegrity structures

• Applicant: Professor Dr.-Ing. Valter Böhm
• Subject Area: Mechanics
• Term: from 2014 to 2021
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 252841667

Tensegrity structures build a specific class of compliant prestressed structures. A large shape variability of technical systems, based on these structures, that is desired in many application fields, can be realized with the use of few actuators by a simple system design.The aim of the project is the further development of the elaborated understanding of form finding and movement of compliant tensegrity structures and to use them for selected scenarios for the model-based design of mobile robots. In the development of the scientific basis for the design of mobile robots under consideration, the dynamic properties and energetic characteristics of systems, that move by a configuration change or by internal mass redistribution, the analysis of their controllability and the definition of optimal system parameters for selected motion algorithms build the research focus. Thereby, also nonclassical tensegrity structures with multiple states of stable equilibrium configurations are considered and their use in shape-changing mobile robots is investigated. Based on the results of model-based theoretical investigations, a technical realization including the development of prototypes is aimed. Future mobile robots based on the investigations should be able to autonomously adjust their locomotion strategies depending on the environment conditions or combine locomotion and manipulation functions.

• DFG Programme: Research Grants