Path planning for the deployment of tensegrity structures Conference Paper uri icon


  • Tensegrity structures consist of tendons (in tension) and bars (in compression). Tendons are strong, light, and foldable, so tensegrity structures have the potential to be light but strong and deployable. Pulleys, NiTi wire, or other actuators to selectively tighten some strings on a tensegrity structure can be used to control its shape. This article describes the problem of asymmetric reconfiguration of tensegrity structures and poses one method of finding the open loop control law for tendon lengths to accomplish the desired geometric reconfiguration. In addition, a practical hardware experiment displays the readiness and feasibility of the method to accomplish shape control of the structure.

name of conference

  • Smart Structures and Materials 2003: Modeling, Signal Processing, and Control

published proceedings

  • Proceedings of SPIE

author list (cited authors)

  • Pinaud, J., Masic, M., & Skelton, R. E.

citation count

  • 20

complete list of authors

  • Pinaud, Jean-Paul||Masic, Milenko||Skelton, Robert E

editor list (cited editors)

  • Smith, R. C.

publication date

  • July 2003