Rolling tensegrity driven by pneumatic soft actuators

In this paper, we describe the rolling of a tensegrity robot driven by a set of pneumatic soft actuators. Tensegrity is a mechanical structure consisting of a set of rigid elements connected by elastic tensional elements. Introducing tensegrity structures, we are able to build soft robots with larger size. Firstly, we show the prototype of a six-strut tensegrity robot, which is driven by twenty-four pneumatic McKibben actuators. Second, we formulate the geometry of the tensegrity robot. We categorize contact states between a six-strut tensegrity robot and a flat ground into two; axial symmetric contact and planar symmetric contact. Finally, we experimentally examine if rolling can be performed over a flat ground for individual sets of the actuators and discuss the strategy of rolling.