Tensegrity Robots

Heads: Shinichi Hirai
Contact: Mizuho Shibata

Date: 2008 - 2016

Mailing address:
Dept. Robotics, Ritsumeikan Univ.
Kusatsu, Shiga 525-8577, Japan

Supported by:
Grant-in-Aid for Challenging Exploratory Research (No.25630098) 2013 - 2014 (Shinichi Hirai)
Dynamics in Tensegrity Structure Locomotion
Young Scientists B (No.21760210) 2009 - 2011 (Shibata, Mizuho)
Locomotion Mechanism Driven by the Body Deformation

Associated lab/group:

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Project Description

In this research, we will investigate a robot that moves over terrain via the deformation of tensegrity structure. The body consists of rigid elements connected by tensional members. Deformation of tensegrity structure yields the locomotion over terrain.
2015/6/9 visit to SIA (news)
2014/7/11 Presented "Locomotion of Tensegrity Robots" at Sustainable Flexible Automation Technical Committee of Institute of Systems, Control and Information Engineers
2013/4/1 Proposal for Grant-in-Aid for Scientific Research "Dynamics in Rolling and Jumping of Tensegrity Structures" was accepted.
2012/3/26 Tensegrity robots were intoduced ini a TV program Morning Bird!.
2011/1/24 Tensegrity robots appear in a magazine "Aera". (RS Web)
2010/9/21 Hirai Lab. was introduced in a TV program Love ☆ Lab. (News 610, NHK Kyoto).
2010/8/28 Open Campus (photos)

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Rolling of tensegrity robot


Name Title Degree
Mizuho Shibata Lecturer, Kinki University Ph.D
Fumiya Kawai Graduated Master of Eng.
Yuuki Aboshi Graduated Master of Eng.
Ryo Imuta Graduated Master of Eng.
Yuusuke Koizumi Graduated Master of Eng.
Kazuma Terashi Graduated Master of Eng.
Toma Suzuki Graduated
Yasunari Tabuchi Graduated
Touma Taniguchi Graduated
Yuuta Kyotou Graduated
Mitsuo Nakase Graduated
Fumio Saijyo Graduated




Rolling of 6-strut robot (mpg 4.2MB)

Rolling of 6-strut robot (mp4 16.6MB)

Rolling of 6-strut robot (mp4 17.5MB)

Rolling by strut driving (P to P) (mpg 4.2MB)

Rolling by strut driving (P to A) (mpg 5.4MB)

Rolling by strut driving (A to P) (mpg 6.6MB)

6-strut robot prototype

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