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Welcome to the NTRTsim wiki!

The NASA Tensegrity Robotics Toolkit (NTRT) is a collection of C++ and MATLAB software modules for the modeling, simulation, and control of Tensegrity Robots. Tensegrity Robots are a biologically inspired approach to building robots based on the tension networks of tensegrity structures, which have no rigid connections between elements. The NTRT was created to enable: the rapid co-exploration of structures and controls in a physics based simulation environment; the development of tensegrity robotics algorithms such as structural analysis, kinematics, and motion planning; and the validation of the algorithms and controls on hardware prototypes of the tensegrity robots.

NTRT is an evolving collection of loosely connected open-source modules designed by the NASA Ames Intelligent Robotics Group. Modules of the NTRT will be released one at a time as they reach maturity. The first module to be released is the NTRT Simulator Core, which is the core library for doing physics based simulations of Tensegrity Robots.

The NTRT Simulator is a tensegrity-specific simulator built to run ontop of the Bullet Physics Engine, version 2.82. The NTRTsim includes a set of builder tools for specifying rods and strings as a set of points in Cartesian coordinates. Structures built out of these rods and strings can be specified as a tree of substructures, and can be rotated and moved, which greatly simplifies the task of creating new tensegrity structures. The NTRTsim also includes libraries for controllers such as Central Pattern Generators and a machine learning framework, which allows users to specify their own learning algorithms. For strings, instead of the default Bullet softbodies, which are not physically accurate, we used a two point linear string model using Hooke's law forces with a linear damping term. Finally, terrains can be created, and the performance of the controller can be tested as the tensegrity robot moves through the simulated world.

Stable releases of the software modules of NTRT will be provided at: The official NTRT webpage, and can also be found under the "releases" here on github.

And Doxygen documents for the current head of the repo, which is autobuilt by our continuous integration server can be found here: Doxygen Documentation

And yes, we have a Continuous Integration server, based on BuildBot, which will build and test the code on every commit. Developers should use this to verify that new code is stable.

Mailing List

All bugs, feature requests, and general discussion regarding NTRT should be sent to the NTRT user mailing list:

ntrtusers [at] lists [dot] nasa [dot] gov

To subscribe to this list, send an empty email message with the subject 'subscribe' (without the quotes) to

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To contact the lead developers and project manager directly, send mail to:

ntrtusers-owner [at] lists [dot] nasa [dot] gov