Abstract: All-elastomer fluid-pressure-actuatable twistors have an elongated tubular wall of resilient elastomeric material extending between first and second mounting ends spaced from each other along a twist axis extending longitudinally within the twistor. The tubular wall encircles its twist axis and surrounds an elongated interior chamber. Interior reinforcing webs of resilient elastomeric material are joined to the wall. These web-partitions extend longitudinally within the chamber, separating the chamber into longitudinally extending compartments. By applying torque or other preform means in a first sense to the first mounting end relative to the second mounting end, the tubular wall and interior webs become twisted in the same sense around the twist axis into a generally helically-twisted configuration.

Abstract: A six-legged, insect-like, self-propelled walking robot (hexapodal arthrobot), includes twistor-pairs in the waist, hip and knee of each leg and walks by pr0gramming fluid pressure in these twistor-pairs at the joints of respective legs in a predetermined controlled sequence. As a result of a predetermined sequence of six controlled variable pressures, this six-legged robot firmly plants three of its legs on the ground for providing stable ground support for walking. The three legs on the ground are propelling the robot forward with walking motion, while the other three legs are lifted and swing forward to an advanced position and are then lowered onto the ground for taking over their support and walking role in their turn, while the first three legs are then being lifted and swung forward to an advanced position, and so forth, for providing a stable forward walking motion. By reversing the sequence of six controlled variable pressures, a stable reverse walking motion is produced.

Abstract: The method and system employ strings of tension actuators in opposed relationship for controlling motions or deflections of jointed members: for example, for controlling the motions of arms, legs and elephant trunks or flexible antennae in robots and for controlling the deflections of beams and columns in frames and structures. These opposed tension actuators are inflated with controlled air pressures which are oppositely varied from a predetermined common-mode pressure P.sub.o (initial fluid pressure level P.sub.o). In other words, as one tension actuator is being inflated with pressure increasing above P.sub.o, the opposed tension actuator is being inflated with pressure decreasing below P.sub.o for producing motion or deflection of the jointed member in one direction, and conversely for producing motion or deflection in the other direction. The opposed tension actuators have their ends anchored to rigid movable plates or struts containing sockets for the respective joints.