Journal of Information Processing
Online ISSN : 1882-6652
ISSN-L : 1882-6652
A Printable Soft-bodied Wriggle Robot with Frictional 2D-anisotropy Surface
Tung D. TaTakuya UmedachiMichiyo SuzukiYoshihiro Kawahara
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2022 Volume 30 Pages 201-208


Soft-bodied animals move by using the anisotropic friction between their body and the environment. Inspired by these bodily structures, we propose a wriggle soft-bodied robot with an anisotropic frictional skin to support its locomotion. We combine soft and rigid materials in 3D printers to make different patterns of frictional anisotropy. We build a simulation model to predict the locomotion speed of the robot with different anisotropic frictional patterns. By using these patterns as the ventral side, we design a wriggle soft-bodied robot that can move 2.8 times faster than a robot with an omnidirectional frictional ventral surface. The fabrication time is less than one hour, and the locomotion speed is 0.17 body-lengths per second.

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© 2022 by the Information Processing Society of Japan
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