Abstract
Various robots have been researching for many years. Because of the Square-cube law, we are not able to build gigantic robot with ordinary robot structure. We found that Tensegric structure is suitable for building a robot over 10m height. In Tensegrity, form is achieved by using a set of disconnected rigid elements connected by continuous network of tensile elements. Tensegrity structure is so light that the king size structure can be constructed neglecting the square-cube law. Assume the starting state of the Tensegric structure arm is standing straight. The arm moves from the starting state, and expected to reach the ending point smoothly. This paper discuss an idea of optimal trajectory for the multistage Tensegric structure arm.
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