Rolling Gait Optimization for a Six-Bar Tensegrity Structure

This study proposes a rolling gait method for a six-bar tensegrity structure based on a strut-actuated design. First, the topological configuration and connectivity of the structure are described in detail, and two distinct ground-contact modes are identified. The kinematics are then analyzed using a form-finding approach and are probabilistically selected based on rolling potential. Specifically, the rolling mechanism is characterized by gravitational moments, the actuation combinations are determined using the dynamic relaxation method, and the optimal driving parameters are identified through multistep Monte Carlo simulations. This work presents a novel motion optimization framework for six-bar tensegrity structures, which effectively exploits the rolling locomotion potential within the allowable actuation length range while ensuring postdeformation structural stability.