  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.
