Tensegrity Robotics

Abstract

Merging between humans and robots has become an important research direction among the latest generation of robots. Both rigid and soft robot applications have their own constraints. The tensegrity structure, which is regularly utilized in the fields of structural engineering and architecture is a space grid structure composed of discrete compression components and continuous tension elements. This kind of design brings together the advantages of rigid and soft structures, offering inspiration for the development of the next generation of robots. Tensegrity structures are increasingly employed in robotics. The purpose of this study is to review the state-of-the-art of tensegrity-based robotics, focusing on applications of these robots. Review of key approaches such as design, form finding, and locomotion modes have also been included. Tensegrity structures-based robotics, as a unique rigid-flexible coupling structure, offer significant opportunity for various applications in the future, even though there are now only a limited number of practical applications.