{"id":185,"date":"2014-06-26T19:26:47","date_gmt":"2014-06-27T02:26:47","guid":{"rendered":"https:\/\/www.magicalrobot.org\/BeingHuman\/?p=185"},"modified":"2015-01-09T17:03:00","modified_gmt":"2015-01-10T01:03:00","slug":"open-source-tensegrity-simulator-released","status":"publish","type":"post","link":"https:\/\/www.magicalrobot.org\/BeingHuman\/2014\/06\/open-source-tensegrity-simulator-released","title":{"rendered":"Open Source Tensegrity Simulator Released!"},"content":{"rendered":"<p>[<strong>UPDATE<\/strong>: <a href=\"https:\/\/www.magicalrobot.org\/BeingHuman\/2015\/01\/tensegrity-robotics-simulator-ntrtv1-1-released\" title=\"Tensegrity Robotics Simulator NTRTv1.1 Released!\">NTRTv1.1 was released<\/a> on 1\/9\/15]<\/p>\n<p>I am *very* pleased to announce that the physics based tensegrity simulator we have been developing is now released as the <b><a href=\"http:\/\/ti.arc.nasa.gov\/tech\/asr\/intelligent-robotics\/tensegrity\/ntrt\/\">NASA Tensegrity Robotics Toolkit (NTRT)<\/a><\/b>, Apache 2 licensed open-source project.  It has been a long road to get here, including an 18 month review process by NASA legal.  One of the key accomplishments of this beta release is to put together a tool chain which makes it easy to explore the relationship between tensegrity structures and how they move.  We accomplish this with the following features:<br \/>\na) A set of builder tools which make it easy to define novel tensegrity structures<br \/>\nb) The ability to automatically generate neuroscience inspired Central Pattern Generator control networks based on the physical layout of the structure.<br \/>\nc) A set of learning tools that enable the optimization of parameters for that control network for efficient locomotion.<\/p>\n<p>You can see the results of this in the following video where we explore different &#8220;snake-like&#8221; tensegrity structures and find that each structure has a different locomotion gait.  I&#8217;m especially interested in the results of the final experiment when we added ribs to the vertebrae and discovered a very natural looking slithering gait.<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"\/\/www.youtube.com\/embed\/YUJeEXjCHeg?rel=0\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n<p>To find out more about the <b><a href=\"http:\/\/ti.arc.nasa.gov\/tech\/asr\/intelligent-robotics\/tensegrity\/ntrt\/\">NTRT simulator<\/a><\/b>, please visit its <b><a href=\"http:\/\/ti.arc.nasa.gov\/tech\/asr\/intelligent-robotics\/tensegrity\/ntrt\/\">official release page<\/a><\/b>, or go directly to the <b><a href=\"https:\/\/github.com\/NASA-Tensegrity-Robotics-Toolkit\">Source on GitHub.<\/a><\/b><\/p>\n<p>And here is another great video of the rolling &#8220;SUPERball&#8221; Robot moving over a wide range of terrains.  We used a lot of machine learning techniques to develop these control capabilities for this robot.<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"\/\/www.youtube.com\/embed\/XJOmu6JpvSs?rel=0\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n","protected":false},"excerpt":{"rendered":"<p>[UPDATE: NTRTv1.1 was released on 1\/9\/15] I am *very* pleased to announce that the physics based tensegrity simulator we have been developing is now released as the NASA Tensegrity Robotics Toolkit (NTRT), Apache 2 licensed open-source project. It has been a long road to get here, including an 18 month review process by NASA legal. [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[43,45],"tags":[104,111,46,112,107,110,17],"class_list":["post-185","post","type-post","status-publish","format-standard","hentry","category-robotics","category-tensegrity-2","tag-cpg","tag-machine-learning","tag-nasa","tag-open-source","tag-robotics-2","tag-simulation","tag-tensegrity"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/pShAo-2Z","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/posts\/185","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/comments?post=185"}],"version-history":[{"count":0,"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/posts\/185\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/media?parent=185"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/categories?post=185"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.magicalrobot.org\/BeingHuman\/wp-json\/wp\/v2\/tags?post=185"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}