機械的アクションポテンシャル運動：双安定力学系を活用したテンセグリティ・スパインジョイントの瞬発運動生成

抄録

Animals often display skillful movements involving quick movements, such as the escape behavior of shrimp. Their motions are so fast that they might be difficult to realize as responses to control inputs. To address we develop a bistable tensegrity joint and propose to achieve instantaneous flexion movement. The spine model was chosen among the tensegrity structures because it mimics the spine of animals and because it can be connected to a series of homogeneous segments. By adjusting the angle and length of the rigid members of the basic tensegrity spine, removing a pair of soft members, and shifting the attachment position of one end of the soft members, the bistable tensegrity joint can be achieved. The development of a tensegrity joint consists of the members with weighing about 17 grams, which immediately performs rapid flexion movements against the slightest stimulus.