We propose a novel mechanism that propagates vibration through soft twisted beams, taking advantage of dynamically-coupled anisotropic stiffness to simplify the actuation of walking robots. Using dynamic simulation and experimental approaches, we show that the coupled stiffness of twisted beams with terrain contact can be controlled to generate a variety of complex trajectories by changing the frequency of the input signal. This work reveals how ground contact influences the system's dynamic behavior, supporting the design of walking robots inspired by this phenomenon. We also show that the proposed twisted beam produces a tunable walking gait from a single vibrational input.

翻译：我们建议建立一个新机制,通过软扭曲的波束传播振动,利用动态混合的动性厌食性僵硬性来简化行走机器人的动能。我们用动态模拟和实验方法显示,通过改变输入信号的频率,可以控制扭曲的波束与地表接触的结合僵硬性,以产生各种复杂的轨迹。这项工作揭示了地面接触如何影响系统的动态行为,支持了由这一现象引发的行走机器人的设计。我们还显示,拟议的扭曲波束从单一的振动输入中产生了一条可捕捉的行走小步。