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University of Colorado’s Adaptive Robotics Lab has filed for an interesting structure based on tensegrity. The geometry of the structure can be changed, allowing it to be used for driving or for swimming robots.

As a wheel, the structure can be completely two-dimensional, or spherical. For swimming applications, the structure can be manipulated to allow the robot to propel itself like a snake. There is even a jumping function possible using a bistable mechanism.

The patent states that “Each tensegrity wheel can be collapsed inward toward the body of the robot or expanded outward away from the body of the robot. In some examples, the robot includes a jumping mechanism, which enables the robot to jump. In some examples, the robot includes a tail with a passive wheel behind the robot, which stabilizes the robot as it moves. The ability to change the shape of each tensegrity wheel and, when equipped, the ability of the robot to jump enhances the ability of the robot to navigate difficult environments.”

The other application of the tensegrity structure offers an untethered, independent robot that can get into some narrow spaces. “Multiple robots joined together in series can move with snake-like locomotion (e.g., slithering). In some aspects, the multiple robots joined together can be used to travel in water (e.g., across the surface of the water, underwater), such as with snake-like locomotion. Each individual robot can move with undulation locomotion.”

Title: “MOBILE ROBOTS WITH SHAPE-CHANGING TENSEGRITY STRUCTURES”
US Patent Application No: 20240351370
Filed (US Prov.): 2023-04-18
Published: 2024-10-24
Applicant: Colorado State University Research Foundation

www.uavpatents.com/morphing-wheels-and-slithering-robots/