Robustness evaluation for rolling gaits of a six-strut tensegrity robot

Locomotive robots based on tensegrities have recently drawn much attention from various communities. A common strategy to realize long-distance locomotion is combining several basic gaits that are designed in advance. Considering the unavoidable uncertainties of environment and real locomotive system, selecting with high robustness essential implementation tensegrity robots. However, no quantitative approach for evaluation rolling reported recent research work. In this study, a practical method proposed mathematical model built describe process, success rate adopted as an indicator robustness. Sensitivity analysis robust conducted typical six-strut robot. Specifically, sensitivities five uncertain parameters (i.e. tendon stiffness, initial prestress, equivalent mass nodes, actuation lengths actuators, slope ground) investigated discussed detail, evaluated by correlated random sampling. Experiments physical prototype robot carried out verify concept method.