Team 4:
ART Tetrahedral Robotics
Principal Investigator: Richard Wesenberg
Abstract:
ART tetrahedral robots are composed of self-similar parts, struts, and nodes, allowing the robots to be assembled in the field
into a variety of tetrahedral configurations. (A tetrahedron is a solid figure enclosed by 4 triangles.) Different tetrahedral robot
configurations are specified by the number of tetrahedrons inscribed by the strut and nodes. For example, a 1-Tet inscribes 1 tetrahedron;
a 12-Tet inscribes 12 tetrahedrons. When the lengths of the individual struts are commanded to change, the robot changes shape and the
center-of-mass moves; this is how the robot moves. The unique construction of ART-based tetrahedral robots also allows for interchangeable
payloads that can be configured as needed in the field. Unlike wheeled and legged robots, ART tetrahedral robots can move over extremely
rough terrain, climb up chimneys and span chasms. The technology is entirely scalable. We have designed and are currently testing a
12-Tet made of these struts and nodes is about 4 ft tall at maximum and weighs about 90 lbs. We may be funded to design and fabricate a
12-Tet that can descend and climb up a ~38 degree sandy slope at the Sedan Crater at the Nevada Test Site. Applicants should be aware
that continued funding for this effort is uncertain at this time.
Team Lead: Bryan Gaither
Research Associates: Agata Ciesielski,
Justin Watson, Peter Phelps
