A General Model for Both Shape Control and Locomotion Control of Tensegrity Systems

Tensegrity systems composed of tension and compression elements have the potential for use in configurable structures and locomotive robots. In this work, we propose a general mathematical model for controllable tensegrity structures. Additionally, a method combining a genetic algorithm (GA) and dynamic relaxation method (DRM) is developed to solve the model. Our proposed model and method are applied to a typical shape controlled tensegrity and a typical locomotive tensegrity system. Firstly, the shape control of a two-stage tri-prism tensegrity is considered, and a collision-free path with minimum energy consumption is identified by using our approach. Secondly, gait design and path planning of a six-strut tensegrity is considered, and optimal gaits and motion paths are obtained by using our approach. The generality and feasibility of the proposed approach is conceptually verified in these implementations.