A tensegrity robot includes multiple tensile members connected to multiple structural members to form a spatially defined structure. Each structural member is connected to one or more other structural members by tensile members therebetween. The robot further includes multiple actuators operatively connected to the tensile members and the structural members, and multiple controllers configured to communicate with each of the actuators. The controllers direct control of at least one of tension or length of the tensile members by the actuators to cause a change in at least one of the size, shape or center of gravity of the spatially defined structure to effect robotic actions. At least two tensile members are connected to an actuator such that at least one of tension or length in both of the tensile members are changed in coordination by the actuator.

Sinusoidal shaped member units and support member units are parts that form pre-stressed assemblies having flexural properties. Sinusoidal shaped members are relaxed material members that have been elastically deformed. Support members maintain the elastically deformed state of the sinusoidal shaped members. The sinusoidal shaped members and support members are organized into pre-stressed curvilinear assemblies containing stored elastic potential energy that is equal to the work done by the forces that deformed their pre-stressed structure. The assemblies' sinusoidal shaped members and support members are adapted to use materials having exceptional mechanical properties and flexural strength. This includes nano-composites. The assemblies' pre-stressed state enhances its mechanical, electrical and structural performance. The size, number, density and possible geometric configurations of the sinusoidal shaped member units and support member units within an assembly/structure is vast. Products of this sinusoidal building system have mechanical and structural applications and can be manufactured using an automated process.

In a joint (100) for a structure that includes at least one rod (104) and a plurality of cables (102), each cable (102) having an outside diameter, a rod end (160) is affixable to the rod (104) so that the rod has a rod (104) centerline that passes through the rod end (160). The rod end (160) includes a mechanism (166) that allows the rod end (160) to pivot about a center point that is on the rod centerline. A cable attachment device (150) is couplable to each cable (102) and to the rod end (160). The cable attachment device (150) holds each cable (102) coupled thereto in a relationship to the rod end (160) so that each cable (102) has a cable centerline that intersects the center point so as to minimize any moments from the rod (104) or the cables (102) on the joint (100).

A space frame is provided having a first set of nodes located along a first surface and a second set of nodes located along a second surface, and a unitary cell. The second surface non-intersecting the first surface. The unitary cell comprises at least four continuous web elements and extending in three dimensions. The unitary cell spans at least two nodes of the first set of nodes and at least two nodes of the second set of nodes.

A building system comprising a plurality of tubes, a plurality of connection nodes comprising tubular sections for connection to the tubes, wherein the tubes are arranged to connect between the connection nodes to form a frame for a building, wherein at least one continuous cavity is formed through at least a portion of the nodes and tubes when the nodes and tubes are connected, the building system further comprising fluid tight seals between the tubes and connection nodes to enable fluid to flow through the at least one continuous cavity.

Tensegrity structures and methods of constructing tensegrity structures of three-dimensional tensegrity lattices formed from truncated octahedron elementary cells. Space-tiling translational symmetry is achieved by performing recursive reflection operations on the elementary cells. This topology exhibiting unprecedented static and dynamic mechanical properties.

A method for determining the equilibrium state of a tensegrity structure includes: determining the critical bending moment that the tensegrity structure bears; calculating the tension of longitudinal tie rods; calculating the pressure of longitudinal compression members; calculating the tensile lengths and the unstressed lengths of the longitudinal tie rods; calculating the compressed lengths and the unstressed lengths of the longitudinal compression members; calculating the forces and the radial deformations of annular compression members; and calculating the positioning lengths and the manufacturing lengths of the longitudinal tie rods and the longitudinal compression members.

A structural frame for a building, comprising: adjacent first and second columns; at least one precast concrete floor slab having first and second corner indents located in two adjacent corners and a first elongated edge beam defined between the first and second corner indents, the first elongated edge beam being disposed between the first and second columns such that the first and second columns are received in the first and second corner indents and that the first elongated edge beam abuts the first and second columns; and a first tendon assembly extending between the first and second columns and adapted to be tensioned to compress the first elongated edge beam between the first and second columns, the first tendon assembly including at least one left cable and at least one right cable located symmetrically on either sides of a vertical center plane of the first and second columns.

A structural frame for a building, comprising: adjacent first and second columns; at least one precast concrete floor slab having first and second corner indents located in two adjacent corners and a first elongated edge beam defined between the first and second corner indents, the first elongated edge beam being disposed between the first and second columns such that the first and second columns are received in the first and second corner indents and that the first elongated edge beam abuts the first and second columns; and a first tendon assembly extending between the first and second columns and adapted to be tensioned to compress the first elongated edge beam between the first and second columns, the first tendon assembly including at least one left cable and at least one right cable located symmetrically on either sides of a vertical center plane of the first and second columns.

A structural frame for a building, comprising: adjacent first and second columns; at least one precast concrete floor slab having first and second corner indents located in two adjacent corners and a first elongated edge beam defined between the first and second corner indents, the first elongated edge beam being disposed between the first and second columns such that the first and second columns are received in the first and second corner indents and that the first elongated edge beam abuts the first and second columns; and a first tendon assembly extending between the first and second columns and adapted to be tensioned to compress the first elongated edge beam between the first and second columns, the first tendon assembly including at least one left cable and at least one right cable located symmetrically on either sides of a vertical center plane of the first and second columns.