Research state and key technology analysis of tensegrity robots

CUI Zuo; HE Jingfeng

doi:10.3981/j.issn.1000-7857.2022.07.009

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Science & Technology Review ›› 2022, Vol. 40 ›› Issue (7) : 84-93. DOI: 10.3981/j.issn.1000-7857.2022.07.009

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Research state and key technology analysis of tensegrity robots

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1. Department of Aerospace Engineering, Guizhou Institute of Technology, Guiyang 550003, China;
2. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China

Abstract

According to the latest researches of tensegrity robot, the characteristics of tensegrity robot are reviewed comprehensively and briefly, and the developments of typical prototypes are summarized. Furthermore, applications of tensegrity robot are introduced from three aspects of ground movement, space exploration and bionic field. On this basis, the key technologies are illustrated concerning initial configuration design, initial prestress analysis and structure stability judgment, morphology determination under external load, dynamic characteristics, and control methods. As last, technical problems of tensegrity robot to be studied in the future are discussed.

Key words

tensegrity robot / gait control / configuration design / form-finding method

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CUI Zuo, HE Jingfeng. Research state and key technology analysis of tensegrity robots[J]. Science & Technology Review, 2022, 40(7): 84-93 https://doi.org/10.3981/j.issn.1000-7857.2022.07.009

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