Multi-locomotion transition of tensegrity mobile robot under different terrains

Knowing how to make a multi-locomotion robot achieve locomotion transition under different terrains is a challenging problem, especially for tensegrity robots with multi-locomotion modes. In this study, a motion planning method for the transition of a multi-locomotion tensegrity robot (hereafter TJUBot) under different terrains is proposed. The robot can achieve four locomotion modes: earthworm-like, inchworm-like, tumbling, and sliding locomotion with only two motors. Kinematic models of the four locomotion modes under five typical terrains, including flat ground, confined space, obstacle, gap, and descending slope, are established using the energy method. Meanwhile, the kinematic characteristics (driving law and initial position) of the robot under these terrains are obtained. On this basis, motion planning for the locomotion transition of TJUBot is conducted, which includes a perception strategy based on three laser sensors and a transition strategy under different terrains. The driving laws of the two motors that can ensure the effective locomotion transition of TJUBot under different terrains are naturally obtained. Finally, experiments are conducted. Results demonstrate that the robot can achieve effective locomotion transition when the motion planning method is used.