TY - CONF A1 - Böhm, Valter A1 - Schorr, Philipp A1 - Schale, Florian A1 - Kaufhold, Tobias A1 - Zentner, Lena A1 - Zimmermann, Klaus T1 - Worm-Like Mobile Robot Based on a Tensegrity Structure T2 - 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft): 2.04.2021 - 16.04.2021, New Haven, CT, USA N2 - This work presents a novel concept to develop mobile robots enabling crawling locomotion in tubular environment. Chain-like systems are designed by serial cascading a uniform tensegrity module. Inspired by the movement of worms in nature, an undulating shape change of the system is targeted to generate locomotion. The shape changeability of an exemplary tensegrity module due to internal actuation is examined in simulations and experiments. A prototype consisting of these tensegrity modules is manufactured and the locomotion principle is verified in experiments. Comparing to existing prototypes this approach enables an enhanced compliance due to the modular assembly of tensegrity structures. KW - Mobile robots KW - motion control Y1 - 2021 UR - https://opus4.kobv.de/opus4-oth-regensburg/frontdoor/index/index/docId/2705 SN - 978-1-7281-7713-7 SP - 358 EP - 363 PB - IEEE ER -