IEEE Robotics & Automation Magazine - September 2023 - 26

will be 14
electromagnetic force of the dc motors is also 14
\ . In theory, the torque, t, generated from the
\ [18]. In
reality, based on data for motors up to roughly 1,000 times
the mass (i.e., roughly 10 times the length) of those we used
in this robot [19]:
x \ ltol .338
.
(2)
We can compensate for this deficiency by making pulley
sizes proportionally lower in larger robots. This design
change would be most necessary for pulleys used to change
the pressure inside the robot as for other types of motion we
could change joint design to avoid working against pressure.
Because shape changes in our demo robot were very fast, for
most applications it would be no problem for the shape change
to take even 10 times as long; the required time would still be
under 2 m. Another option is to scale the motors up proportionally
faster than the robot. This should be possible within
a reasonable size range as the motors our prototype robot
uses are well below its carrying capacity. Based on this reasoning,
we think tensegristat robots capable of bearing their
own weight, moving, and interacting with proportionally sized
objects would be viable up to a scale of at least 10 times the
size of our demonstration robot, i.e., at least up to human scale.
Walking
Morphing
Swimming
0 s
0 s
0 s
2 s
2 s
6.8 s
1.9 s
8.2 s
10.7 s
13.5 s
10.4 s
(a)
(b)
(c)
FIGURE 4. (a) The robot walks off a ledge and into a tank of water. (b) The robot morphs in the water. (c) The robot swims in a tank of still water.
26 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
3.4 s

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
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