Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in fabrication, however, has posed technical challenges and mechanical complexity, thereby underscoring a noticeable gap between research and practice. To address the limitation, the research draws inspiration from the unique musculoskeletal feature of vertebrate physiology, which displays significant capabilities for sophisticated locomotion. The research converts the biological paradigm into a tensegrity-based robotic system, which is formed by the design of rigid-flex coupling and a compliant mechanism. This integrated technique enables the robot to achieve a wide range of motions with variable stiffness and adaptability, holding great potential for advanced performance in ill-defined environments. In summation, the research aims to provide a robust foundation for tensegrity-based biomimetic robots in practice, enhancing the feasibility of undertaking intricate robotic constructions.

翻译：仿生学在机器人领域发挥着关键作用。与刚性机器人相比，仿生机器人展现出固有的柔顺性，使其能够在受限空间中实现灵活运动与操作。然而，机器人的实际制造面临技术挑战与机械复杂性，凸显了研究与实践之间的显著差距。为突破此限制，本研究从脊椎动物生理学独特的肌肉骨骼特性中汲取灵感——该特性展现出实现复杂运动的卓越能力。研究将这一生物学范式转化为基于张拉整体结构的机器人系统，通过刚柔耦合设计与柔顺机构实现系统构建。该集成技术使机器人能够实现大范围运动，并具备可变刚度与适应能力，在非结构化环境中展现出卓越的性能潜力。综上所述，本研究旨在为基于张拉整体结构的仿生机器人实践提供坚实基础，从而提升复杂机器人系统构建的可行性。