In order to copy beautiful motions from human dancers, it is important for robots to have the flexible spine structure. In this paper, we describe the method to build an elastic spine structure from a single carbon rod. This spine structure has 3 characteristics, (1) the seamless S-curve, (2) simple composition and (3) light weight. We added 9 motor actuator modules to this structure and developed a ultrahigh-DOF wire-driven carbon rod spine robot to test our design principle.
