Soft robots are capable of inherently safer interactions with their environment than rigid
robots since they can mechanically deform in response to unanticipated stimuli. However …

This paper introduces the addition of torsional prestrain into the manufacturing process of
shape memory alloy (SMA) springs to form torsionally prestrained SMA springs. These …

Kinodynamic planning of tensegrity robots is a thorny problem, and there are few works that
have been reported on this subject, especially for tensegrity manipulators. In this study, a …

Robots with flexible spines based on tensegrity structures have potential advantages over
traditional designs with rigid torsos. However, these robots can be difficult to control due to …

Learning policies in simulation is promising for reducing human effort when training robot
controllers. This is especially true for soft robots that are more adaptive and safe but also …

We propose a novel differentiable physics engine for system identification of complex spring-
rod assemblies. Unlike black-box data-driven methods for learning the evolution of a …

Spherical movable tensegrity robots, resorting to the intrinsic hallmark of being lightweight
and resilient, have exhibited tremendous potential in exploring unpredictable terrains and …

Tensegrity continuum robots (TCRs) are an emerging class of flexible continuum robots that
employ the tensegrity concept to achieve a natural balance of compliance and strength. The …

Locomotive robots based on tensegrities have recently drawn much attention from various
communities. A common strategy to realize long-distance locomotion is combining several …

Locomotive robot based on tensegrity has recently drawn much attention due to its
lightweight and flexibility. This article presents an improved numerical model for locomotive …