This paper presents dynamic modeling of tensegrity robots rolling over the ground.  We have developed a 6-strut tensegrity robot that deforms its body for rolling locomotion over the ground.  Designing tensegrity structures and control laws appropriate to locomotion experimentally has consumed much time and labor.  Dynamic simulation of tensegrity robot rolling is thus required to reduce time and labor in experimental trials.

We have formulated a set of dynamic equations of motion of tensegrity robots.  Our tensegrity robots consist of rigid struts and elastic actuators.  Elastic actuators, which act as tensile elements, shrink by applying air pressure into the actuators.  Applying air pressure to designated actuators deforms the tensegrity structure, which allows the structure roll over the ground.  We have simulated the rolling of two icosahedron tensegrity robots; one consists of 24 actuators while the other consists of 12 actuators.  Experimental evaluation validated our dynamic simulation.