Determining Correlation Between Resonance and Locomotion in Vibrating Tensegrity Robots

Vibrating tensegrity robots have been utilized in the field of morphological computation, which explores how mechanical complexity in living systems can be advantageous, due to the complex coupled dynamics inherent to their structure. Previous literature has demonstrated morphological computation in vibrating tensegrities by exploiting this dynamic complexity to achieve locomotion with limited control of vibrational actuation. To further understand this phenomenon, this work aims to determine how resonance in tensegrity robots relates to their modes of optimal locomotion. Both a linear and nonlinear model of the dynamics of isolated strut vibration have been developed in order to characterize the frequency response of a single strut to variable driving frequencies. An updated version of Union College’s vibrating tensegrity robot with wireless control, onboard motion tracking, and low-frequency vibration capable of achieving resonance was then developed to experimentally validate the theoretical models and establish a platform on which locomotion and resonance can be observed.