# Bio-inspired Tensegrity Soft Modular Robots

arXiv: https://arxiv.org/abs/1703.10139 · HTML: https://mlsanity.com/paper/1703.10139/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Mar 2017.

## Built on by (most cited first, 3 of 3)

- [Multifunctional physical reservoir computing in soft tensegrity robots](https://mlsanity.com/paper/2507.21496/) (2025)
- [On the Exploration of LM-Based Soft Modular Robot Design](https://mlsanity.com/paper/2411.00345/) (2024)
- [Shape Change and Control of Pressure-based Soft Agents](https://mlsanity.com/paper/2205.00467/) (2022)

## Abstract (arXiv)

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.