Programmable Multistable Mechanisms for Locomotion*

We characterized the stability behavior of a multistable mechanism and applied the results to create a new locomotion mechanism based on serially connected bistable beams. The beams of our mechanisms have axial loads that can tune their stiffness and thereby modify the number and location of the stable states. This mechanism is an instance of programmable multistable mechanisms introduced in our previous work.

Using analytical modeling, numerical simulation, and experimental measurements, we demonstrated how the transition sequence between the stable states depends on the beams' axial loads. We exploited this property to produce locomotion with a highly simplified control system. We applied our concept to construct a skating robot, where velocity can be tuned by varying beam stiffness.