TY - CHAP A1 - Herrmann, David A1 - Kunze, Julian A1 - Kobes, Julian A1 - Seelecke, Stefan A1 - Motzki, Paul A1 - Rizzello, Gianluca A1 - Böhm, Valter T1 - A mobile tensegrity robot driven by rolled dielectric elastomer actuators T2 - 2025 IEEE 8th International Conference on Soft Robotics (RoboSoft), 22-26.April 2025, Lausanne N2 - This paper presents a tensegrity-based mobile robot powered by dielectric elastomer actuators (DEAs), which provide high compliance and adaptability. The design consists of two V-shaped members linked by DEAs, enabling both symmetrical and asymmetrical actuation for varied movement patterns. Modal analysis and simulations show that uniform DEA actuation supports efficient linear motion, while asymmetrical actuation enables controlled circular paths. Experimental testing highlights the influence of voltage waveforms, frequencies, and surface types on speed, with optimal performance achieved using rectangular waveforms on low-friction surfaces. The robot reaches a top speed of 188 mm/s, among the highest reported for DEA-driven robots. KW - Vibrations KW - Surface waves KW - Modal analysis KW - Resonant frequency KW - Soft robotics KW - Mobile robots KW - Rubber KW - Transient analysis KW - Dielectric elastomer actuators KW - Testing Y1 - 2025 U6 - https://doi.org/10.1109/RoboSoft63089.2025.11020974 PB - IEEE ER -