研究发现张拉整体结构存在于细胞骨架、肌肉 - 骨骼系统等生物体，并将其原理广泛应用于建筑、雕塑、 空间探测等工程结构中。张拉整体结构具有形态可调性、受力可控性、绳索抗拉性和结构轻质、结构自稳定等优势， 因此在机器人领域极具应用前景。而软体机器人作为一种新型、仿生、能与人安全交互的机器人，近年来成为力学、 材料学、医学、生物学等多学科交叉领域的研究热点之一。但是，要想实现灵活准确的运动、高效地承受外载、迅速 地适应环境等复杂特性和功能，张拉整体机器人在其构型、运动步态及控制研究等方面依旧面临着巨大挑战。本研究 选取张拉整体机器人的三大典型类别（棱柱形张拉整体机器人、球形张拉整体机器人及构型较复杂的张拉整体机器人）， 对其构型、运动步态及控制的国内外相关研究现状和发展趋势进行综述，旨在为机器人的仿生学研究提供科学依据。

Studies has found that tensegrity structures exist in organisms like cytoskeleton and musculoskeletal system, which could be applied to engineering structure like architecture, sculpture and space exploration. Tensegrity structures have advantages of flexibility, controllability, tensile resistance, light in weight and autostability, which could be widely used in robots. Being a new, bionic and man-machine interactive system, soft robot has become one of the research hotspots in the interdisciplinary field that bridges mechanics, materials science, medicine and biology. However, it faces great challenges in accurate motion, high load and rapid adaption to environment. The configuration, motion gait and motion control of three typical tensegrity structures (prismatic tensegrity robots, spherical tensegrity robots and complex ones) were selected and discussed in this study, aiming to provide scientific bases for the bionics research of robots.

收稿日期：2022-06-14  录用日期：2023-08-10 

Received Date: 2022-06-14  Accepted Date: 2023-08-10 

基金项目：国家自然科学基金项目（61873304，62173048）；吉林省科技发展计划项目（20200201291JC）；长春市科技发展 计划项目（21ZY41） 

Foundation Item: National Natural Science Foundation of China (61873304, 62173048); Science and Technology Development Plan Project of Jilin Province (20200201291JC); Science and Technology Development Plan Project of Changchun City (21ZY41) 

通讯作者：段晓琴，Email：15204309769@163.com 

Corresponding Author: DUAN Xiaoqin, Email: 15204309769@163.com 

引用格式：曹心言，李润源，陈嘉郡，等 . 张拉整体机器人构型与运动控制研究现状及进展 [J]. 机器人外科学杂志（中英文）， 2024，5（2）：130-137. 

Citation: CAO X Y, LI R Y, CHEN J J, et al. Current status and development of configuration and motion control of tensegrity robots [J]. Chinese Journal of Robotic Surgery, 2024, 5(2): 130-137.

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