Tunable Dynamic Walking via Soft Twisted Beam Vibration

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