Deployment and Shape Change of a Tensegrity Structure Using Path-Planning and Feedback Control

1. Introduction Many deployable structures today, such as retractable roofs (Gantes et al., 1989; Akgün et al., 2011) and spacecraft appendages (Pellegrino, 1995; Liu et al., 2014) deploy along one-degree of freedom. Tensegrity structures are light-weight and deformable structures that are useful in applications such as flat roofs (Csölleová, 2012), floors (Fest et al., 2004; […]