Collision Analysis and Passive Walking Generation in Rimless Wheel-inspired Tensegrity Walkers

–Subtitle: A Novel Modeling Approach for its Coupling–

Abstract

Tensegrity, as a novel means of connection, is increasingly crucial in the field of robotics. The coupling methods of its individual struts vary widely, and different connection approaches result in distinct dynamic characteristics. However, there hasn’t been in-depth research regarding the essence of its connection methods. This study proposes a novel modeling approach for arbitrary coupling in tensegrity structures based on the rimless wheel model. Through a dynamic model, the generality of coupling forces is elucidated. Furthermore, passive gaits are achieved through numerical simulation, and the soft characteristics are investigated to interpret kinetic energy loss during collisions. This study emphasizes the versatility of the proposed model and provides insights into energy utilization within tensegrity systems. It underscores the importance of understanding and optimizing energy management in tensegrity structures, offering a generalized approach to dynamic modeling for robots.