{"id":61359,"date":"2016-07-19T18:14:00","date_gmt":"2016-07-19T22:14:00","guid":{"rendered":"https:\/\/www.nasa.gov\/?migration=converted-node-387514"},"modified":"2023-07-26T12:19:28","modified_gmt":"2023-07-26T16:19:28","slug":"design-and-control-of-a-twelve-bar-tensegrity-robot","status":"publish","type":"post","link":"https:\/\/www.nasa.gov\/directorates\/stmd\/space-tech-research-grants\/design-and-control-of-a-twelve-bar-tensegrity-robot\/","title":{"rendered":"Design and Control of a Twelve-Bar Tensegrity Robot"},"content":{"rendered":"\n<p><strong>Mallory Daly <\/strong><br>\n<em>University of California, Berkeley<\/em><\/p>\n\n\n<div id=\"\" class=\"hds-media hds-module wp-block-image\"><div class=\"margin-left-auto margin-right-auto nasa-block-align-inline\"><div class=\"hds-media-wrapper margin-left-auto margin-right-auto\"><figure class=\"hds-media-inner hds-cover-wrapper hds-media-ratio-none \"><a href=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1536\" height=\"2048\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?w=1536\" class=\"attachment-2048x2048 size-2048x2048\" alt=\"Mallory Daly\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg 2400w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=225,300 225w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=768,1024 768w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=1152,1536 1152w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=1536,2048 1536w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=300,400 300w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=450,600 450w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=675,900 675w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=900,1200 900w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?resize=1500,2000 1500w\" sizes=\"(max-width: 1536px) 100vw, 1536px\" loading=\"eager\" \/><\/a><\/figure><figcaption class=\"hds-caption padding-y-2\"><div class=\"hds-caption-text p-sm margin-0\">Mallory Daly<\/div><\/figcaption><\/div><\/div><\/div>\n\n\n<p>A tensegrity (tensional integrity) robot is a lightweight, compliant system consisting of rods suspended in a network of cables. It can absorb large loads on impact, and it can move by actuating its cables. Thus a tensegrity robot can act as both a lander and rover, which is unique from traditional rovers that require separate, complex landing systems. The functionality of tensegrity robots will drastically reduce the cost and complexity of surface exploration missions. Prior work between NASA Ames and the University of California, Berkeley, on tensegrity robotics has utilized a six-bar structure. This work revealed shortcomings to the six-bar structure, such as limited payload-to-deadweight mass ratio, impact orientation sensitivity, and high actuation effort. I propose to develop a twelve-bar tensegrity robot as a solution to these shortcomings. I will approach this research by conducting simulations, constructing a rapid prototype, and then creating two high-fidelity prototypes of the twelve-bar tensegrity robot. This work advances the efficacy of surface exploration missions in support of TA 4, Robotics and Autonomous Systems, and the TAB 4.2, Mobility.<\/p>\n\n\n\n<p><a href=\"\/directorates\/spacetech\/strg\/nstrf-2016\"><strong>Back to NSTRF 2016 Full List<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Mallory Daly University of California, Berkeley A tensegrity (tensional integrity) robot is a lightweight, compliant system consisting of rods suspended in a network of cables. It can absorb large loads on impact, and it can move by actuating its cables. Thus a tensegrity robot can act as both a lander and rover, which is unique […]<\/p>\n","protected":false},"author":66,"featured_media":63438,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"nasa_hds_core_meta_l10n":"en-US","nasa_hds_core_meta_article_editor":"","nasa_hds_core_meta_article_contacts":[],"nasa_hds_core_meta_article_topic":"","nasa_hds_core_meta_linked_locations":[],"nasa_hds_core_meta_article_related_articles":[],"hds_migrate_meta_pr_release_id":"","hds_migrate_meta_pr_release_type":"","nasa_hds_core_meta_location_x":"","nasa_hds_core_meta_location_y":"","nasa_hds_core_meta_gallery_images":[],"footnotes":""},"categories":[3337],"news-tags":[],"internal-terms":[9529,12750],"coauthors":[],"parsely":{"version":"1.1.0","meta":{"@context":"https:\/\/schema.org","@type":"NewsArticle","headline":"Design and Control of a Twelve-Bar Tensegrity Robot","url":"https:\/\/www.nasa.gov\/directorates\/stmd\/space-tech-research-grants\/design-and-control-of-a-twelve-bar-tensegrity-robot\/","mainEntityOfPage":{"@type":"WebPage","@id":"https:\/\/www.nasa.gov\/directorates\/stmd\/space-tech-research-grants\/design-and-control-of-a-twelve-bar-tensegrity-robot\/"},"thumbnailUrl":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?w=150&h=150&crop=1","image":{"@type":"ImageObject","url":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg"},"articleSection":"NASA Directorates","author":[{"@type":"Person","name":"Loura Hall"}],"creator":["Loura Hall"],"publisher":{"@type":"Organization","name":"NASA","logo":"https:\/\/www.nasa.gov\/wp-content\/themes\/nasa\/assets\/images\/nasa-logo.svg"},"keywords":["NASA Directorates","Space Technology Mission Directorate","Space Technology Research Grants"],"dateCreated":"2016-07-19T22:14:00Z","datePublished":"2016-07-19T22:14:00Z","dateModified":"2023-07-26T16:19:28Z"},"rendered":"<meta name=\"parsely-title\" content=\"Design and Control of a Twelve-Bar Tensegrity Robot\" \/>\n<meta name=\"parsely-link\" content=\"https:\/\/www.nasa.gov\/directorates\/stmd\/space-tech-research-grants\/design-and-control-of-a-twelve-bar-tensegrity-robot\/\" \/>\n<meta name=\"parsely-type\" content=\"post\" \/>\n<meta name=\"parsely-image-url\" content=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg?w=150&h=150&crop=1\" \/>\n<meta name=\"parsely-pub-date\" content=\"2016-07-19T22:14:00Z\" \/>\n<meta name=\"parsely-section\" content=\"NASA Directorates\" \/>\n<meta name=\"parsely-tags\" content=\"NASA Directorates,Space Technology Mission Directorate,Space Technology Research Grants\" \/>\n<meta name=\"parsely-author\" content=\"Loura Hall\" \/>","tracker_url":"https:\/\/cdn.parsely.com\/keys\/nasa.gov\/p.js"},"read_time":1,"time_ago":"8 years","featured_image":{"id":63438,"file":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2016\/07\/daly_mallory.jpg","title":"daly_mallory","alt":"Mallory Daly","caption":"PHOTO DATE:07\/16\/2015\rLOCATION:B 8, Room 183\rSUBJECT: Official NASA portraits of 2015 JSC Summer Interns - Mallory Daly\rPHOTOGRAPHER: Allison Bills"},"_links":{"self":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/61359"}],"collection":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/users\/66"}],"replies":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/comments?post=61359"}],"version-history":[{"count":1,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/61359\/revisions"}],"predecessor-version":[{"id":463501,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/61359\/revisions\/463501"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/media\/63438"}],"wp:attachment":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/media?parent=61359"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/categories?post=61359"},{"taxonomy":"news-tags","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/news-tags?post=61359"},{"taxonomy":"internal-terms","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/internal-terms?post=61359"},{"taxonomy":"author","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/coauthors?post=61359"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}