Development of an expansion mechanism for a pneumatic soft mobile robot in a confined space

Abstract

We propose a pneumatic expansion mechanism using three duct hoses for moving in narrow spaces. The duct hoses have high elasticity and flexibility, and by using these two properties, the robot is expected to be used in narrow spaces that are difficult for people to enter. This paper presents the structure and driving principle of the telescopic mechanism, and report on the results of the operation tests.