Robots are in constant evolution, an example of this is the mobile robots that have been evolving concerning their displacement mechanism, obtaining the still not very well-known tensegrity robots. These robots overcome the barriers that mobile robots normally present when moving through difficult-to-access terrain such as rocky terrain. Due to their mechanism and response to stimuli, these tensegrity robots are attractive especially in the field of exploration. The objective of the present research is to provide a better overview of this type of robot, through a structured matrix that allows making known the necessary characteristics in the implementation of tensegrity robots. To achieve the proposed objective, articles whose maximum date of antiquity is 2015 were chosen, obtaining 28 research articles. Thanks to this research, it can finally conclude that there are different ways to implement tensegrity robots according to the characteristics required by the researcher and the technological evolution.