An Approach to Compliant Locomotion Systems Based on Tensegrity Structures

Tensegrity structures are prestressed compliant structures composed of a set of disconnected rigid compressed elements connected by continuous prestressed tensional elements. A spatially limited, local impact on tensegrity structures yields a global change of their shape. This essential property initiates the development of novel compliant locomotion systems with large shape variability and simple system design. The development of locomotion systems based on tensegrity structures has just begun. In the contribution three locomotion systems based on tensegrity structures are presented. In contrast to the known approaches the considered systems differ in their actuation / locomotion schemes. The working principle of the introduced locomotion systems is discussed and verified with experimental tests. Index Terms tensegrity, locomotion, mechanical compliance, prestressed compliant structures