Abstract
This paper proposes the soft structural microrobot, which acts in narrow place in the fluid. This robot is alternatively operated on linear swimming, hopping and juumping on the bottom. The body is made of NB and silicon rubbers. The actuator is a current driving type coil shape-memory alloy (SMA). The SMA expands and contracts by on-off current control for gain of the large and quick motion. The body is 30mm cube and 19mN weight. Theoretical model is numerically obtained by computation of repetitive steady-state linear action.
