Abstract
In previous work, we developed a high compliant robot consisting of McKibben actuators and PET(polyethylene terephthalate) plate. The robot was cord shaped, soft bodied to achieve biomimetic motion. And we confirmed the fundamental traveling characteristics on ground, in water and in curvature narrow space. In this paper, conductive resin film was formed on the compliant robot. Using the film, two functional controls which improved the safety around the robot were invented. One is path width estimation control, and the other is force control. Using former function, the robot detects the width of path before robot traveling. By later function, appropriate drive condition can be maintained for change of path width during robot traveling. Experiments of both functions were carried out, and high effectiveness was recognized.
