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 …

NASA Ames Research Center is develo** a compliant modular tensegrity robotic platform
for planetary exploration. In this paper we present the design and evolution of the platform's …

Kinodynamic planning of tensegrity robots is a thorny problem, and there are few works that
have been reported on this subject, especially for tensegrity manipulators. In this study, a …

Tensegrity-based robots can achieve locomotion through shape deformation and
compliance. They are highly adaptable to their surroundings, and are lightweight, low cost …

An approach is presented for dynamic analysis of tensegrity structures in the small
displacement regime. Such analyses are characterized by cables switching between taut …

This paper presents a path planning method for actuated tensegrity structures with quasi-
static motion. The valid configurations for such structures lay on an equilibrium manifold …

Strut collisions can occur in tensegrity structures and seriously change the general
mechanical behaviors of the structures. For many years, there have been few investigations …

Tensegrity-based robots can achieve locomotion through shape deformation and
compliance. They are highly adaptable to their surroundings, have light weight, low cost and …

Presented in this work are the concepts to build, sense and control a completely untethered
tensegrity robotic system called SUPERball (Spherical Underactuated Planetary Exploration …

This paper provides the methodology used to simulate and control an icosahedral tensegrity
structure augmented with movable masses attached to each bar to provide a means of …