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BAM-STR: A Bio-Inspired Soft Tensegrity Robot Driven by McKibben Pneumatic Artificial Muscles
Yang Jiang1, Xinyuan Yang1, Zihao Zuo1
1School of Mechanical Engineering, Chongqing University of Technology, Banan, Chongqing 400054, China.
Micromachines
|July 28, 2026
Summary
This study introduces BAM-STR, a soft tensegrity robot inspired by earthworms. It uses pneumatic artificial muscles for adaptable crawling in complex environments, demonstrating path-width, load-carrying, and rough-ground capabilities.
Area of Science:
- Robotics
- Soft Robotics
- Biomimetic Design
Background:
- Tensegrity structures offer unique advantages like compliance and large deformation for mobile robots.
- Earthworm peristaltic locomotion provides a model for efficient, adaptable movement in complex terrains.
Purpose of the Study:
- To develop a soft tensegrity robot (BAM-STR) inspired by earthworm locomotion.
- To utilize McKibben pneumatic artificial muscles for controlled deformation and crawling.
- To investigate the robot's adaptability to different environments and loads.
Main Methods:
- Designed a three-layer, three-strut tensegrity structure for the robot.
- Integrated McKibben pneumatic artificial muscles for axial-radial coupled deformation.
- Implemented a bio-inspired segmented peristaltic waveform control strategy.
Main Results:
- Achieved ~31% axial contraction and ~21% radial expansion at 100kPa.
- Reached a maximum average crawling speed of ~6.5mm/s with optimal control intervals.
- Demonstrated adaptability to channel widths (190-235mm), carried a 200g payload, and crawled on rough surfaces.
Conclusions:
- BAM-STR exhibits significant path-width adaptability.
- The robot possesses robust load-carrying crawling capabilities.
- BAM-STR demonstrates effective locomotion on challenging, uneven terrains.
