4. Design

There are several challenges facing the designer wishing to develop tensegrity mechanisms in robotics. Firstly, it is difficult to propose generic methods for generating an optimal tensegrity topology for a given problem. For this reason, the structures that give rise to practical implementations are generally based on a well-known elementary tensegrity pattern consisting of a small number of bars, which is then eventually repeated to make a complete structure or to serve as a subset of a robotic system.

Due to the large number of elements, the unilateral action of certain components, and the wide range of possible configurations within a single robot, the integration of technological components into robotic tensegrity structures is not trivial. In particular, it is necessary to ensure the absence of interference between components during robot operation. In addition...