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Tensegrity structures (built from interconnected rods and cables) have the potential to o↵er a revolutionary new robotic design that is light-weight, energy-e cient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are di cult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overalldoi:10.1145/2463372.2463525 dblp:conf/gecco/IscenAST13 fatcat:n4eo6ooqanbw5f7sqowv6r2p4u