Publications


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PEER-REVIEWED JOURNAL PUBLICATIONS

Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control,”(with L.-H. Chen, K. Kim, E. Tang, K. Li, R. House, A.K. Agogino, V. Sunspiral, E. Jung), Journal of Mechanisms and Robotics9 (2), pp. 0205001-1-9, 2017. doi: 10.1115/1.4036014.  

PEER-REVIEWED CONFERENCE PROCEEDINGS

“SUPERball: Exploring Tensegrities for Planetary Probes”, (with A.P. Sabelhaus, K. Caluwaerts, J. Bruce and V. SunSpiral), Proceedings of the 12th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), June 2014. Citations.

Hardware  Design and Testing of SUPERball, a Modular Tensegrity Robot, (with A.P. Sabelhaus, J. Bruce, K. Caluwaerts, Y. Chen. D. Lu, Y. Liu, A.K. Agogino and V. SunSpiral), Proceedings of the WCSCM6 (6th World Conference on Structural Control and Monitoring), July 2014.

Rapid Prototyping Design and Control of Tensegrity Soft Robot for Locomotion“, (with K. Kim, A.K. Agogino, D. Moon, L. Taneja, Al. Toghyan, B. Dehghani and V. SunSprial), Proceedings of the 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), 2014, pp. 7-14. Finalist for Best Student Paper Award. Citations

System Design and Locomotion of SUPERball, an Autonomous Tensegrity Robot,” (with A.P. Sabelhaus, J. Bruce, K. Caluwaerts, P. Manovi, R. G. Firoozi, S. Dobi, and V. SunSpiral), Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA-2015), May 26-30, 2015, Washington State Convention Center, Seattle, Washington. Citations

Emergent Form-Finding for Center of Mass Control of Ball-Shaped Tensegrity Robots,” (with K. Kim and A.K. Agogino), ARMS (Autonomous Robots and Multirobot Systems) workshop, (affiliated with the 14th International Conference on Autonomous Agents and Multiagent Systems – AAMAS 2015). Istanbul, Turkey, May 4-5, 2015.

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot,” (with A.P. Sabelhaus, P. Hylton, Y. Madaan, C.W. Yang, J. Friesen and V. SunSpiral),  Proceedings of the International Design Engineering Conference IDETC/CIE 2015, Mechanisms and Robotics Conference, ASME. Citations.

Robust Learning of Tensegrity Robot Control for Locomotion through Form-Finding,” (with K. Kim, A.K. Agogino, A. Toghyan, D. Moon, L. Taneja), Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2015), IEEE, DOI: 10.1109/IROS.2015.7354204, pp. 5824 – 5831. Citations.

Soft Spherical Tensegrity Robot Design using Rod-centered Actuation and Control,” (with L.-H. Chen, K. Kim, E. Tang, K. Li, R. House, A.K. Agogino, V. Sunspiral, E. Jung),  Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 40th Mechanisms and Robotics Conference, American Society of Mechanical Engineers, August 21-24, Charlotte, NC, USA (2016). 

DNA-Structured Linear Actuators,” (with K. Zampaglione, A.P. Sabelhaus, L.-H. Chen, A.K. Agogino), Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 40th Mechanisms and Robotics Conference, American Society of Mechanical Engineers, August 21-24, Charlotte, NC, USA (2016).

Hopping and Rolling Locomotion with Spherical Tensegrity Robots,” (with K. Kim, L.H. Chen, B. Cera, M. Daly, E. Zhu, J. Despois, A.K. Agogino, V. SunSpiral), in Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), Daejeon, Korea, Oct 9-14, 2016.

Spin-Axis Stabilization of a Rigid Body about an Arbitrary Direction using Two Reaction Wheels,” (with K. Kim),  Proceedings of 2016 IEEE Conference on Decision and Control (CDC2016), Las Vegas, NV, USA, Dec 12-14, 2016.  DVD ISBN: 978-1-5090-1844-4; DOI: 10.1109/CDC.2016.7799141

Modular Elastic Lattice Platform for Rapid Prototyping of Tensegrity Robots” (with L.-H. Chen, M.C. Daly, A.P. Sabelhaus, L.A. Janse van Vuuren, H.J. Garnier, M. I. Verdugo, E. Tang, C. U. Spanenberg, F. Ghahani, A.K. Agogino), to appear in the Proceedings of the ASME International Design Engineering Technical Conference (IDETC) 2017Review version submitted Feb. 15, 2017.

“Inclined Surface Locomotion Strategies for Spherical Tensegrity Robots”, (withL.-H. Chen, B. Cera, E.L. Zhu, R. Edmunds, F. Rice, A. Bronars, E. Tang., S.R. Malekshahi, O. Romero, A.K. Agogino, A.M. Agogino), to appear in the Proceedings of  the International Conference on Intelligent Robotics  and Systems (IROS 2018).

Design of a Spherical Tensegrity Robot for Dynamic Locomotion”, (Kim, K., Deaho Moon, Jae Young Bin, A.M. Agogino), to appear in the Proceedings of  the International Conference on Intelligent Robotics  and Systems (IROS 2018).

PRESENTATIONS

L.-H. Chen, P. Keegan, M. Yuen, A.M. Agogino, R.K. Kramer, A.K. Agogino and V. Sunspiral, “Soft Robots Using Compliant Tensegrity Structures and Soft Sensors”. Poster presented at ICRA (International Conference on Robots and Automation) Workshop on Soft Robotics, Seattle, WA, May 30, 2015.

BEST Lab Demos Tensegrity Robots to NASA Deputy Administrator, July 17, 2015, http://best.berkeley.edu/2015/07/17/hello-world-2/.

Kyle Zampaglione, “A Structured Linear Actuator for Tensegrity Robots”, poster presentation for the NASA Ames/ UCSC Advanced Studies Laboratory, Aug. 5, 2015.

Kyunam Kim, “Precision Hopping and Rolling Robotic Surface Probe Based on Tensegrity Structures,” Poster presentation for the UARC STI / UCSC Advanced Studies Laboratory Summer Research Poster Symposium, Aug. 5, 2015.

Adrian K. Agogino, “Tensegrity Robots for Space Exploration”, Aug. 8, UC Berkeley.

Kyunam Kim,  “Precision Hopping/Rolling Robotic Surface Probe Based on Tensegrity Structures,” NASA Ames (Sep. 1, 2015 at the Robust Software Engineering Group; Sep. 17, 2015 at the Intelligent Robotics Group).

Lee-Huang Chen and Kyunam Kim, Demo to Prof. Sangbae Kim (MIT Cheetah project), UC Berkeley, Oct. 7, 2015.

A.M. Agogino, “Tensegrity Robots for Space Exploration,” Bay Area Robotics Symposium (BARS), Oct. 23, 2015. Video and Slides (w/o video).

A.M. Agogino, “From Mobiles to Drones: The Next Leapfrog Technologies”, Panel at the Clinton Global Initiative University (CGI U), April 2, 2016.

A.M. Agogino, A.K. Agogino, “Precision Hopping/Rolling Robotic Surface Probe Based on Tensegrity Structures,”  NASA Tensegrity and Soft Robotics Technical Exchange, NASA Ames, Intelligent Systems Division, July 14, 2016.

BEST Lab, “Tensegrity Robots with BEST Robotics”, Summer Fun Weeks, Lawrence Hall of Science, Aug. 3 2016.

PATENTS

“DNA structured linear actuator”, (with K. Zampaglione, L.-H. Chen and A. Sabelhaus), International No. PCT/US2016/032899, patent filed, under review.

“Modular rod-centered, distributed actuation & control architecture for spherical tensegrity robots”, (with L.-H. Chen, A. Khaderi, A.Y. Lim, K. Kim, D. Moon, P. Keegan and A.K. Agogino), UC. Case No. BK-201-052-2-PCT, PCT International Application No. PCT/US2016/061353, patent filed, under review.

“Elastic lattices for design of tensegrity structures and robots,” (L.-H. Chen, M. Daily, A. Sabelhaus, and A.K. Agogino), Provisional Application N0. 28533291.

PHD DISSERTATIONS

Kyunam Kim, “On the Locomotion of Ball-Shaped Tensegrity Robots”, December 2016, Mechanical Engineering, University of California at Berkeley. PhD advisor: Dr. Alice M. Agogino.

Lee-Huang Chen, “Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control”, December 2016,Mechanical Engineering, University of California at Berkeley. PhD advisor: Dr. Alice M. Agogino.

MS/MENG THESES/REPORTS

2013/2014 Dizhou Lu, MS Plan II “Structural Design for Tensegrity Mechatronics”
2013/2014 Justino J. Calangi, MS Plan II “Model-Based Control System for Packing a 6-Bar Tensegrity Structure”
2013/2014 Eric Cheng-yu Hong, MS Plan II “Viability of Tensegrity Robots in Space Exploration”
2013/2014 Yuejia (Margaret) Liu, MS Plan II “Tensegrity Soft Robot for NASA Mission”
2013/2014 Yangxin Chen, MS Plan II “Structure and Actuation Design of a 6-Rod Tensegrity Robot”
Fall 2014 Hugo Wagoner, MS Plan II “Open Innovation Business Models for the Development of a Tensegrity Toy Kit”
Fall 2014 Andrew P. Sabelhaus, MS Plan II “Mechanism and Sensor Design for SUPERball, a Cable-Driven Tensegrity Robot”
May 2015 Jessica Lee, MS Plan II “Anisotropic Collapsible Leg Spines for Increased Millirobot Traction”
May 2015 Patrick Bailey Hylton, MEng Plan II “Mechatronics and Design of the Passive Compliance system of the ULTRA Spine, A Tensegrity Robot”
May 2015 Yakshu Madaan, MEng Plan II “Design and Prototypes of Structure and Guide Pulleys for ULTRA Spine – a tensegrity robot”
May 2015 ChanWoo Yang, MEng Plan II “Simulations and Dynamics Modeling for Tensegrity Soft Spine Robotics: ULTRA Spine”
May 2015 Lim Yusheng Alexander, MEng Plan II “Design of a New Spherical Tensegrity Robot Kit”
May 2015 Azhar Khaderi, MEng Plan II “Mechatronics and Control of a Spherical Tensegrity Robot Kit”
May 2015 Peadar Keegan, MEng Plan II “Electronics & Software Design of a Spherical Tensegrity Robot for NASA Missions”
May 2015 Xiang Li, MEng Plan II “A Study in Artificial Intelligence Methods for Spherical Tensegrity for NASA Missions”
Aug 2015 Kyle Zampaglione, MS Plan II “DNA-Structured Linear Actuator for Tensegrity Robots”
May 2016 Yinglong Li, MEng Plan II “Spherical Tensegrity Robot for NASA Missions: Mechanical Design and Manufacturing”
May 2016 Yang Zheng, MEng Plan II “Spherical Tensegrity Soft Robot for NASA Missions: Design of the Next Generation Tensegrity Robot”
May 2016 Anupama Madiyan, MEng Plan II “Gimbal Concept Design and End Cap Design for NASA Spherical Tensegrity Robot”
May 2016 Borui Xia, MEng Plan II “Spherical Tensegrity Robot for NASA: Mechanical Design”
May 2016 Marcel Pozo, MEng Plan II “GPS and Motion: For Spherical Tensegrity Robots”
May 2016 Julien Despois, MEng Plan II “Localization, Path Planning and Controls for Spherical Soft Tensegrity Robots in the context of NASA Space Missions”
May 2016 Jeffrey L. Ware, MEng Plan II “Spherical Tensegrity Soft Robots for NASA Missions: IMU Integration for Orientation Detection and System Drop Response”
May 2016 Vincent Viola, MEng Plan II “Simulation and Control of Spherical Tensegrity Robots for NASA Missions: Feasibility Analysis of a Cable Actuated Thruster System”
May 2016 Yilian Yan, MS Plan II “Simulation of Two-Dimensional Cable Actuated Thruster in Tensegrity Structure”
May 2017 Juan Ordonez, MEng Plan II “Design of 12-Bar Tensegrity Robots: Hardware Design, Actuation Analysis and Testing”
May 2017 Zhangyou Nikki Chen, MEng Plan II “Design of 12-Bar Tensegrity Robots: Electronic Design and Actuation Analysis”
May 2017 Marshall Hoaglan, MEng Plan II “Design of 12-Bar Tensegrity Robots: Impact Performance and Analysis”
May 2017 Zhong Jin, MEng Plan II “Design of 12-Bar Tensegrity Robots: IMU System Design and Impact Performance Record”
May 2017 Eric Jiang, MEng Plan II “Path Planning of Tensegrity Robots in NASA’s Tensegrity Robotics Toolkit Simulator”
May 2017 Carrina Dong, MEng Plan II “Design of an Automated Testbed for a Six-Bar Tensegrity Robot”
May 2017 Henry He Huang, MEng Plan II “Design and Fabrication of Launch Testbed for 6-bar Tensegrity Robot”
May 2017 Anosh Sethna, MEng Plan II “6-Bar Tensegrity Robot Gimbaled Thruster Testbed – Design, Fabrication, and Preliminary Testing”
May 2017 Michael Jei-Lin Wu, MEng Plan II “Experimental Validation of Autonomous Navigation in Spherical Tensegrity Robots”
May 2017 Asher Saghian, MEng Plan II “Design and Evaluation of the Curved Rod and W-Cross Tensegrity Spines”
May 2017 Shu Jun Tan, MEng Plan II “Design, Prototype and Evaluation of the Under-Actuated Lightweight Tensegrity Robotic Assistive (ULTRA) Spine Robot: W-Extended, W-Alternating and X-Alternating Spines”
May 2017 Robel Bahlbi Teweldebirhan, MEng Plan II “Simulation and Performance Evaluation of Tensegrity Spine Designs”
May 2017 Huajing (Shirley) Zhao, MEng Plan II “Model-Predictive Control for Reduced-Error Trajectory Tracking of a 2D Simulated Tensegrity Spine Robot”
May 2017 Lara Janse van Vuuren, MEng Plan II “Design, Manufacturing, and Testing of an Actuated Leg for a Tensegrity Quadruped Robot”

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