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I have had the good fortune to host, or otherwise work with, a number of highly talented students from Universities around the country (and world!). Most of the work and innovation on our tensegrity robotics research has come from their efforts. Below you will find the theses of PhD and Masters students who have contributed to this research effort. Beyond those listed here, there are many other undergraduates students who have spent summers here, or worked on senior design projects related to tensegrity robots.


Theses in Progress when I left NASA

Andrew Sabelhaus, UC Berkeley, PhD
Jeff Friessen, UC San Diego, PhD
Jennifer Case, Purdue, PhD

Steven Lessard, UC Santa Cruz, PhD

PhD Theses

Jonathan Bruce, “Design, Building, Testing, And Control Of SUPERball: A Tensegrity Robot To Enable New Forms Of Planetary Exploration”, PhD Thesis, University Of California Santa Cruz, Dec 2016. Download PDF.

Brian Tietz Mirletz, “Adaptive Central Pattern Generators For Control Of Tensegrity Spines With Many Degrees Of Freedom”, PhD Thesis, Case Western Reserve University, Jan 2016. Download PDF .

Ken Caluwaerts, “Design and Computational Aspects of Compliant Tensegrity Robots”, PhD Thesis, Ghent University, Ghent, Belgium, 2014, Download PDF.

Atil Iscen, “Multiagent Learning for Locomotion and Coordination in Tensegrity Robotics”, PhD Thesis, Oregon State University, 2014. Download PDF.

Daniel Chavez-Clemente, “Gait Optimization For Multi-Legged Walking Robots, With Application To A Lunar Hexapod”, PhD Thesis, Stanford University, Stanford, CA, 2011. Download PDF.

Masters Theses

Michelle R. Alber, “Structural Dynamics of Tensegrity Prisms and Masts Under Changing Cable Tension,” Masters of Science, University of Georgia, 2017. Download PDF.

Marc André Leroy, “Manufacturing, Control and Testing of a Tensegrity Robot for Planetary Landing and Exploration,” Masters Thesis, School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland, August 2017. Download PDF.

Dawn Hustig-Schultz, “Morphological Design and Control Of A Bio-Inspired, Structurally Compliant Quadruped,” Master of Science in Computer Engineering, University of California, Santa Cruz, June 2017. Download PDF.

Andrew P. Sabelhaus, “Mechanism and Sensor Design for SUPERball, a Cable-Driven Tensegrity Robot,” Master of Science in Mechanical Engineering, University of California, Berkeley, 2014. Download PDF.

George Korbel, “Central Pattern Generator Gait Evolution Of A Robotic Modular Tetrahedral Tensegrity”, Masters Thesis, University of Idaho, Moscow Idaho, 2013, Download PDF.

Jérémie Despraz, “Superballbot – Structures For Planetary Landing And Exploration”, Masters Thesis, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland, 2013. Download PDF.

Steve Burt, “Kinematics Algorithms For Tensegrity Structures”, Masters Thesis, UC Santa Cruz, Santa Cruz, CA. 2013. Download PDF.

Stefan Leutenegger, “End Effector Design and Control of Planetary Rover Robot Arm for Communication Relay Retrieval”, Masters Thesis, Swiss Federal Institute of Technology (ETH), Zurich, Switzerland, 2008. Download PDF.

Camilla Ljungstrom, “Manipulator, Mounting and Integration, and Communication Brick Collection”, Masters Thesis, KTH Royal Institute of Technology, Stockholm, Sweden, 2008. Download PDF.


Masters Theses

Alexander Lawrence Xydes, “Simulating DuCTT and optimizing control for DuCTT with machine learning,” Master of Science in Computer Science, University of California, San Diego, 2015. Download PDF.

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