Gyroscopic Tensegrity Robots

Raman Goyal, Muhao Chen, Maoranjan Majji, Robert E. Skelton

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


Mechanics and control of innovative gyroscopic structural systems are detailed in the paper. By adding controllable spinning wheels to a network of controllable, axially loaded strings and bars, it is shown that the mobility and manipulation of the structural system are enhanced. Using principles of mechanics, a nonlinear dynamic model is presented to modulate the torque produced by the network of spatially distributed gyroscopes. Equations of motion, formulated as a second-order matrix differential equation, provide a trajectory for the nodal displacement of the bars, along with the wheel's spin degree of freedom. While the gyroscopic robotics concept is scalable to an arbitrarily large network, this research aims to identify elemental modules to override fundamental design principles of the innovative structural systems. Dynamic simulation and experimental verification on a planar D-bar tensegrity structure are used to demonstrate the utility of one such fundamental building block of the gyroscopic robotic system.

Original languageEnglish
Article number8962160
Pages (from-to)1239-1246
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 2020

Bibliographical note

Publisher Copyright:
© 2016 IEEE.


  • Dynamics
  • soft robot applications
  • space robotics and automation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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