Journal of Aero Aqua Bio-mechanisms
Online ISSN : 2185-1522
ISSN-L : 2185-1522
Original Papers
Development of flexible ciliary actuators and their application to mobile robots
Hitoshi KimuraMokutaro KataokaTakuya HigashiNorio Inou
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2015 Volume 4 Issue 1 Pages 71-77


The present paper describes new flexible ciliary actuators made of thin urethane rubber, to imitate the hydraulic skeleton found in soft creatures, such as earthworms. Several trial actuators are manufactured while varying the number of fluid chambers from 1 to 3. These actuators are driven by fluid pressure and different methods of posture restoration. A new multiple two-way ciliary actuator sheet with an embedded multi-layered fluid circuit is proposed. A pipe inspection robot of 27 mm in height with ciliary actuator arrays moves at 5.4 mm/s. A new ciliary actuator with a z-shaped body is also discussed.

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© 2015 Society of Aero Aqua Bio-mechanisms
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