Abstract: The form finding analysis for self-equilibrium configuration of semi-regular tensegrity units was implemented by changing the geometry of classic half-octahedron tensegrity units. Singular value decomposition of equilibrium matrix was used in the form finding analysis. The design formulas for geometric transformation of the units were summarized and the geometric stability was verified combined with the self-stress modes and inextensible displacement modes of the units. The tensegrity torus was developed by assembling the units annularly and the overall feasible self-stress of the torus was presented as well. A novel self-balancing cable-strut tensile dome was generated by introducing a Levy type cable dome in the center. A static analysis of the structure was performed indicating that the structure had high stiffness. Finally a physical model was made to verify the feasibility of the structural system. This work will encourage and support the practical applications of tensegrity.