Abstract
Although pneumatic robots are expected to have safety based on the mechanical softness, large and heavy air source and reservoir tank is a problem to build a self-contained pneumatic robot. This paper proposes a pneumatic robot to have small-scale compressors. In this study, we showed a design guideline to decide the minimum condition of compressor specifications and tank volumes when a movement condition of the robot is given. We have designed and developed a prototype model of a McKibben-driven robot arm that has an embedded compressor and shown a motion experiment.
