We present a methodology for designing, fabricating, and controlling rolling membrane-driven tensegrity robots. This methodology is enabled by pneumatic membrane actuators and a generalized path planning algorithm for rolling polyhedra. Membrane actuators are planar, assembled in a scalable fashion, and amenable to arbitrary geometries. Their deformation trajectories can be tuned by varying the stacking sequence and orientation of layers of unidirectional lamina placed on their surfaces. We demonstrate the application of the same set of membrane actuators consisting of polygonal faces of Platonic Solids to create polyhedral tensegrity variants. Three specific tensegrities in the forms of cube, dodecahedron, and rhombicuboctahedron are chosen to demonstrate the path planning algorithm, though the algorithm is generalizable to any uniform or non-uniform $n$-sided polyhedra. The membrane-driven tensegrities are able to roll in unique trajectories and circumvent obstacles contingent on the distribution and types of polygons which constitute their faces.

中文翻译：

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滚动软膜驱动张拉整体机器人

我们提出了一种设计、制造和控制滚动膜驱动张拉整体机器人的方法。这种方法是通过气动薄膜执行器和滚动多面体的通用路径规划算法实现的。膜致动器是平面的，以可扩展的方式组装，并且适合任意几何形状。它们的变形轨迹可以通过改变放置在其表面上的单向薄片层的堆叠顺序和方向来调整。我们演示了由柏拉图固体的多边形面组成的同一组膜致动器的应用，以创建多面体张拉整体变体。选择立方体、十二面体和菱形八面体形式的三种特定张拉整体来演示路径规划算法，尽管该算法可推广到任何均匀或非均匀的 $n$ 边多面体。膜驱动的张拉整体能够以独特的轨迹滚动并绕过构成其面的多边形的分布和类型的障碍物。