A floating structure comprising a closed loop tensegrity structure (1700, 1800, 1900, 2100, 2200, 2300) including: a plurality of beams (200, 300, 400, 500, 600), wherein each beam of the plurality of beams (200, 300, 400, 500, 600) is formed by coupling multiple n-strut tensegrity twisted prism units, n is an integer greater than 2, wherein each of the multiple n-strut tensegrity twisted prism units includes n-sided planar polygonal surfaces (106, 108) on opposite sides through which the respective n-strut tensegrity twisted prism unit is coupled to another n-strut tensegrity twisted prism unit or to a beam adapter; and a plurality of beam adapters (700, 900, 1100, 1200, 1500), wherein each beam adapter of the plurality of beam adapters (700, 900, 1100, 1200, 1500) is an m-strut tensegrity twisted prism unit, m is an integer greater than 4, wherein the m-strut tensegrity twisted prism unit comprises: m-sided planar polygonal top surface (710, 1102); m-sided planar polygonal bottom surface (712, 1104), opposite to the m-sided planar polygonal top surface (710, 1102); and at least m number of side faces (714, 1106) formed as planar polygons, characterised in that an n-sided planar polygonal surface (202, 302, 402, 502) of a beam of the plurality of beams (200, 300, 400, 500, 600) is coupled to a side face of a beam adaptor of the plurality of beam adapters (700, 900, 1100, 1200, 1500) in such a way that the vertices of the n-sided planar polygonal surface of the beam and the vertices of the side face of the beam adaptor form common vertices at the joint. a plurality of beams (200, 300, 400, 500, 600), wherein each beam of the plurality of beams (200, 300, 400, 500, 600) is formed by coupling multiple n-strut tensegrity twisted prism units, n is an integer greater than 2, wherein each of the multiple n-strut tensegrity twisted prism units includes n-sided planar polygonal surfaces (106, 108) on opposite sides through which the respective n-strut tensegrity twisted prism unit is coupled to another n-strut tensegrity twisted prism unit or to a beam adapter; and a plurality of beam adapters (700, 900, 1100, 1200, 1500), wherein each beam adapter of the plurality of beam adapters (700, 900, 1100, 1200, 1500) is an m-strut tensegrity twisted prism unit, m is an integer greater than 4, wherein the m-strut tensegrity twisted prism unit comprises: m-sided planar polygonal top surface (710, 1102); m-sided planar polygonal bottom surface (712, 1104), opposite to the m-sided planar polygonal top surface (710, 1102); and at least m number of side faces (714, 1106) formed as planar polygons, characterised in that m-sided planar polygonal top surface (710, 1102); m-sided planar polygonal bottom surface (712, 1104), opposite to the m-sided planar polygonal top surface (710, 1102); and at least m number of side faces (714, 1106) formed as planar polygons, characterised in that an n-sided planar polygonal surface (202, 302, 402, 502) of a beam of the plurality of beams (200, 300, 400, 500, 600) is coupled to a side face of a beam adaptor of the plurality of beam adapters (700, 900, 1100, 1200, 1500) in such a way that the vertices of the n-sided planar polygonal surface of the beam and the vertices of the side face of the beam adaptor form common vertices at the joint.