A monolithic flexible tensegrity jumping robot with integrated steering, self-righting, and take-off angle control

This paper presents a novel flexible tensegrity-based jumping robot that achieves multifunctional locomotion control solely through its deformable structure. The proposed design enables three essential capabilities, directional steering, take-off angle modulation, and autonomous self-righting, using only the inherent compliance of its flexible tensegrity architecture, eliminating the need for additional dedicated mechanisms. The energy storing and releasing mechanism is implemented through sets of planetary gears. Experiments show that the constructed robot can jump more than 420 mm high at a take-off angle of 85 degrees.