NASA Tensegrity Robotics Toolkit (NTRT) v1(ARC-17093-1)

The NASA Tensegrity Robotics Toolkit (NTRT) is a collection of C++ and MATLAB software modules for the modeling, simulation, and control of Tensegrity Robots. Tensegrity Robots are a biologically inspired approach to building robots based on the tension networks of tensegrity structures, which have no rigid connections between elements. The NTRT was created to enable: the rapid co-exploration of structures and controls in a physics based simulation environment; the development of tensegrity robotics algorithms such as structural analysis, kinematics, and motion planning; and the validation of the algorithms and controls on hardware prototypes of the tensegrity robots.