Locomotive robots based on tensegrities have recently drawn much attention from various communities. A common strategy to realize long-distance locomotion is combining several basic gaits that are designed in advance. Considering the unavoidable uncertainties of the environment and the real locomotive system, selecting the gaits with high robustness is essential to the implementation of long-distance locomotion of tensegrity robots. However, no quantitative approach for robustness evaluation of rolling gaits is reported in recent research work. In this study, a practical and quantitative method is proposed for the robustness evaluation of rolling gaits of tensegrity robots. A mathematical model is built to describe the evaluation process, and the success rate of rolling is adopted as an indicator of robustness. Sensitivity analysis and robust evaluation are conducted on the rolling gaits of a typical six-strut tensegrity robot. Specifically, the sensitivities of the rolling gaits to five uncertain parameters (i.e. tendon stiffness, initial tendon prestress, the equivalent mass of nodes, actuation lengths of actuators, and slope of ground) are investigated and discussed in detail, and the robustness of the rolling gaits is evaluated by correlated random sampling. Experiments on a physical prototype of the six-strut tensegrity robot are carried out to verify the proposed concept and method.

最近，基于张力的机车机器人引起了许多社区的关注。实现长距离运动的一种常见策略是结合预先设计的几种基本步态。考虑到环境和实际机车系统不可避免的不确定性，选择具有高鲁棒性的步态对于实现张力机器人的长距离运动至关重要。然而，在最近的研究工作中没有报道定量方法用于滚动步态的鲁棒性评估。在这项研究中，提出了一种实用且定量的方法来评估张力机器人滚动步态的鲁棒性。建立了描述评估过程的数学模型，并采用滚动成功率作为鲁棒性的指标。对典型的六支柱张力机器人的滚动步态进行了灵敏度分析和鲁棒性评估。具体来说，研究并讨论了滚动步态对五个不确定参数（即肌腱刚度，初始肌腱预应力，节点的等效质量，致动器的致动长度和地面坡度）的敏感性，以及滚动的鲁棒性通过相关的随机抽样评估步态。进行了六支柱张力机器人的物理原型实验，以验证所提出的概念和方法。详细研究和讨论了执行器的驱动长度和地面坡度，并通过相关的随机抽样评估了步态的鲁棒性。进行了六支柱张力机器人的物理原型实验，以验证所提出的概念和方法。详细研究和讨论了执行器的驱动长度和地面坡度，并通过相关的随机抽样评估了步态的鲁棒性。进行了六支柱张力机器人的物理原型实验，以验证所提出的概念和方法。