Abstract
This paper describes the design and development of softening deformable structure which enables robots to have high shape adaptability. This structure is made of a low-melting-point alloy and can be made soft and deformable through a phase change induced by heating. In the soft deformable state, it can be changed their shape by pressing themselves against objects and by using their own weight. On the other hand, in the hard state, it is enough stiff to be a part of a robot. Using this structure, we have developed two types of legged robots which have softening deformable legs. The first robot can reconstruct its original shape through reheating. The second robot has higher deformation ability and realize grasping objects, walking on a pillar and going up a ladder, which are difficult to do with its original shape, by deforming the shapes of the legs.
