Tensegrity Robotics

Numerous recent advances in robotics have been inspired by the biological principle of tensile integrity-or tensegrity-to achieve remarkable feats of dexterity and resilience. Tensegrity robots contain compliant networks of rigid struts and soft cables, allowing them to change their shape by adjusting their internal tension. Local rigidity along the struts provides support to carry electronics and scientific payloads, while global compliance enabled by the flexible interconnections of struts and cables allows a tensegrity to distribute impacts and prevent damage. Numerous techniques have been proposed for designing and simulating tensegrity robots, giving rise to a wide range of locomotion modes, including rolling, vibrating, hopping, and crawling. In this study, we review progress in the burgeoning field of tensegrity robotics, highlighting several emerging challenges, including automated design, state sensing, and kinodynamic motion planning.

Automated summary

Advancements in tensegrity robotics, inspired by biological principles, allow robots to change shape by adjusting internal tension; various design and simulation techniques enable a wide range of locomotion modes; emerging challenges include automated design, state sensing, and kinodynamic motion planning.