NASA Tensegrity Robotics Toolkit

About NTRT

The NASA Tensegrity Robotics Toolkit (NTRT) is a collection of C++ and MATLAB software modules for the modeling, simulation, and control of Tensegrity Robots. The NTRT Simulator is a tensegrity-specific simulator built to run ontop of the Bullet Physics Engine, version 2.82.

See INSTALL for instructions on how to install the library and build from source. A getting started guide is available in src/README.dox, which contains the main page of the DOxygen documentation.

The most accessible examples of tensegrity structures are in the examples directory, we recommend starting with src/examples/3_prism Additional README.dox files can be found in each folder with additional information about that application or library. Additional examples can be found in example folders NestedTetrahedrons, SUPERball, learningSpines or development folders: dev/tests and dev/btietz.

More information can be found at:

http://ti.arc.nasa.gov/tech/asr/intelligent-robotics/tensegrity/ntrt/

Documentation

Doxygen documentation can be compiled in the source directory (run "doxygen Doxyfile" when in src). Under Ubuntu 14.04, installing doxygen and graphviz (required) can be done by running "sudo apt-get install doxygen graphviz". HTML-based documentation can then be found under src/DoxyDocs/index.html.

Pre-built documentation for the repository can be found here:

http://ntrt.perryb.ca/doxygen

Build Status

NTRTsim's automated build system (BuildBot) can be found at:

http://ntrt.perryb.ca/bb/waterfall