狭隘空間を移動する空気圧式ソフトロボットのための伸縮機構の開発

抄録

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.