  The topology and form finding of tensegrity structures have been studied
extensively since the introduction of the tensegrity concept. However, most of
these studies address topology and form separately, where the former
represented a research focus of rigidity theory and graph theory, while the
latter attracted the attention of structural engineers. In this paper, a
biomimetic approach for the combined topology and form finding of spatial
tensegrity systems is introduced. Tensegrity cells, elementary infinitesimally
rigid self-stressed structures that have been proven to compose any tensegrity,
are used to generate more complex tensegrity structures through the
morphogenesis mechanisms of adhesion and fusion. A methodology for constructing
a basis to describe the self-stress space is also provided. Through the
definition of self-stress, the cellular morphogenesis method can integrate
design considerations, such as a desired shape or number of nodes and members,
providing great flexibility and control over the tensegrity structure
generated.
