An approach to locomotion systems based on 3D tensegrity structures with a minimal number of struts

Tensegrity structures are prestressed compliant structures composed of a set of disconnected rigid compressed elements connected by continuous prestressed tensional elements. A spatially limited, local impact on tensegrity structures yields a global change of their shape. This essential property initiates the development of novel compliant locomotion systems with large shape variability and simple system design. The development of locomotion systems based on tensegrity structures has just begun. In the contribution two locomotion systems based on 3D tensegrity structures with a minimal number of struts are presented. In contrast to the known approaches the considered systems differ in their actuation / locomotion schemes. The working principle of the introduced locomotion systems is discussed and verified with experimental tests.