Development of a Lightweight Mobility System for a Passive Tensegrity Lander

We will provide actuation for JPL's light-weight and robust passive tensegrity lander, and develop simplified actuation based on either traction motors or payload-based actuation for JPL lander. We will develop minimal actuation topology and control using NTRT (NASA Tensegrity Robotics Toolkit), and evaluate how each actuation pattern performs based on the pattern's weight, size, control complexity, and achievable positioning from random initial orientations. We would then propose further development and funding through either the NASA Innovative Advanced Concepts program (NIAC), or by incorporating into a multi-year Game Changing Development (GCD) program that we hope to start up in FY18.

Design will allow light-weight, low-cost and robust tensegrity robots to be considered for future NASA missions

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