An improved numerical model for locomotive tensegrity systems based on vector form intrinsic finite element

Locomotive robot based on tensegrity has recently drawn much attention due to its lightweight and flexibility. This article presents an improved numerical model for locomotive tensegrities. The previously used bar element struts is replaced by beam element, rigid joint consider more details of the tendon–strut connections. vector form intrinsic finite (VFIFE) method adopted formulate carry out simulation. improvement proposed prediction feasible rolling gaits quantitatively verified experiments a six-strut tensegrity. Mann–Whitney U test adopted, p value between experimental success rates gait primitives generated previous [Formula: see text]. It shown that consistent with experiment considering connection.