Configuration Design and Gait Planning of a Six-Bar Tensegrity Robot

Due to their high kinematic characteristics, six-bar tensegrities have great potential application value in the field of robotics, especially deep space exploration robots. In this paper, an ultralight tensegrity robot is designed, and a gait planning method for continuous motion proposed. First, equilibrium matrix structure constructed, singular decomposition (SVD) performed find node coordinates internal forces structure. Two representative examples regarding structures are presented demonstrate capability proposed initial selfstress design that satisfies stability tensegrities. Furthermore, both principal rolling analysis also addressed based on offset center gravity. A prototype developed, obstacle avoidance experiment completed. Finally, results show has good performance. Moreover, expected play key role future planetary exploration.