Project

# Title Team Members TA Documents Sponsor
9 Spherical Bio-Inspired Tensegrity Multiple Step Robot with LCE Actuation
 Dongzi Li
Yiqin Xiang
Yuxuan Huang
Ziye Chen
 Hanzhi Ma
Problem
Robots designed for exploration or operation in unstructured environments often face challenges related to impact resistance, adaptability, and mechanical complexity. Traditional rigid robots rely on wheels, motors, and rigid frames, which can be vulnerable to collisions and mechanical damage when operating in uncertain environments.
Tensegrity structures offer a promising alternative because they combine rigid compression elements and tensioned cables to form lightweight yet resilient structures. These systems distribute loads efficiently and naturally absorb impacts, making them suitable for robots that must tolerate collisions or uneven terrain.
However, many existing tensegrity robots rely on bulky motors or external actuation systems to control cable tension, which increases system weight, mechanical complexity, and power consumption. A more compact and integrated actuation method is needed to enable lightweight tensegrity robots capable of controlled locomotion.
Researchers therefore need a robotic system that integrates lightweight tensegrity structures with compact actuators to enable controllable motion while maintaining structural compliance and robustness.

Solution Overview
Our solution is to develop a spherical bio-inspired tensegrity robot that uses liquid crystal elastomer (LCE) actuator cables as artificial muscles. The robot will consist of a lightweight hollow tensegrity framework composed of rigid rods connected by tension cables. Selected cables will be replaced by LCE actuators.
When electrical current is applied to the LCE cables, Joule heating causes the material to contract. This contraction increases tension within the tensegrity structure and produces controlled deformation of the spherical frame. By activating different actuators in sequence, the robot can shift its center of mass and generate rolling motion on flat ground.
The system will include a multi-channel control circuit, wireless communication, and gait-sequence control softwarethat coordinate actuator activation. These components allow the robot to perform continuous locomotion and basic directional control. In addition, power and thermal management mechanisms will ensure safe and reliable operation of the LCE actuators.

Solution Components
Actuation Subsystem
• LCE actuator cables that contract when electrically heated
• Driver circuits capable of supplying current to multiple actuators
• Electrical connections integrated into the tensegrity structure
These components act as artificial muscles that control tension within the robot and enable structural deformation.

Structural Subsystem
• Lightweight rigid rods forming the compression elements
• Tension cables connecting structural nodes
• Mechanical joints and connectors forming a spherical tensegrity framework
The structure maintains the robot’s geometry while distributing loads and absorbing impacts.

Control Subsystem
• Microcontroller for actuator control
• Multi-channel switching or driver circuitry
• Gait-sequence control software
This subsystem determines the timing and sequence of actuator activation required to generate rolling locomotion.

Communication Subsystem
• Wireless communication module (e.g., Bluetooth or WiFi)
• Remote command interface
This subsystem allows users to send commands to control the robot’s motion.

Power Subsystem
• Rechargeable battery pack
• Voltage regulation circuitry
This subsystem supplies electrical power to the control electronics and LCE actuators.

Criterion for Success
The project will be considered successful if the following criteria are achieved:
1. Actuation capability
The LCE actuator cables must demonstrate repeatable contraction when electrically heated and return to their original length after cooling.
2. Controlled locomotion
The robot must demonstrate continuous rolling motion on a flat surface through coordinated actuator activation.
3. Directional control
The robot must demonstrate basic steering capability using different actuator sequences.
4. Wireless operation
The robot must successfully receive wireless commands and execute corresponding motion behaviors.
5. System integration
The complete system—including tensegrity structure, actuators, control electronics, and power supply—must operate together as an integrated robot.

Cloud-controlled quadcopter

Featured Project

Idea:

To build a GPS-assisted, cloud-controlled quadcopter, for consumer-friendly aerial photography.

Design/Build:

We will be building a quad from the frame up. The four motors will each have electronic speed controllers,to balance and handle control inputs received from an 8-bit microcontroller(AP),required for its flight. The firmware will be tweaked slightly to allow flight modes that our project specifically requires. A companion computer such as the Erle Brain will be connected to the AP and to the cloud(EC2). We will build a codebase for the flight controller to navigate the quad. This would involve sending messages as per the MAVLink spec for sUAS between the companion computer and the AP to poll sensor data , voltage information , etc. The companion computer will also talk to the cloud via a UDP port to receive requests and process them via our code. Users make requests for media capture via a phone app that talks to the cloud via an internet connection.

Why is it worth doing:

There is currently no consumer-friendly solution that provides or lets anyone capture aerial photographs of them/their family/a nearby event via a simple tap on a phone. In fact, present day off-the-shelf alternatives offer relatively expensive solutions that require owning and carrying bulky equipment such as the quads/remotes. Our idea allows for safe and responsible use of drones as our proposed solution is autonomous, has several safety features, is context aware(terrain information , no fly zones , NOTAMs , etc.) and integrates with the federal airspace seamlessly.

End Product:

Quads that are ready for the connected world and are capable to fly autonomously, from the user standpoint, and can perform maneuvers safely with a very simplistic UI for the common user. Specifically, quads which are deployed on user's demand, without the hassle of ownership.

Similar products and comparison:

Current solutions include RTF (ready to fly) quads such as the DJI Phantom and the Kickstarter project, Lily,that are heavily user-dependent or user-centric.The Phantom requires you to carry a bulky remote with multiple antennas. Moreover,the flight radius could be reduced by interference from nearby conditions.Lily requires the user to carry a tracking device on them. You can not have Lily shoot a subject that is not you. Lily can have a maximum altitude of 15 m above you and that is below the tree line,prone to crashes.

Our solution differs in several ways.Our solution intends to be location and/or event-centric. We propose that the users need not own quads and user can capture a moment with a phone.As long as any of the users are in the service area and the weather conditions are permissible, safety and knowledge of controlling the quad are all abstracted. The only question left to the user is what should be in the picture at a given time.