Jan Petrš, Ryota Kobayashi, Fuda van Diggelen, Hiroyuki Nabae, Koichi Suzumori, Dario Floreano
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Evolutionary Codesign and Fabrication of Tensegrity Joints with Integrated Pneumatic Artificial Muscles
Tensegrity Robotics
This research presents tensegrity articulated joints with actuation that combine thin pneumatic artificial muscles and energy-restoring elastics, both integrated into the tensile network. It uses a tensegrity spine-inspired topology, further refined through a multi-objective, constraint-based evolutionary algorithm. The method was validated by designing and fabricating two types of joints, which were tested in a quadruped robot and gripper application. More details can be found in the Research Article by Jan Petrš and co-workers (Doi: 10.1002/aisy.202500310).
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