抄録
This work proposes a study on the development of balloon biped walking robot using buoyancy. We proposed the design method concerning the home service robot as friendly robots. First, the basic experiment to examine the self-weight of the locomotion mechanisms that balanced the buoyancy of the balloon was done. Then, we produced a flexible legs with compact and lightweight drive with thin polyethylene plate and shape memory alloys (FFP-Actuator). To achieve the robot walk, we clarified the relation between the buoyancy of helium and the friction of the robot by the experiment. As a result, the relation between the volume of the helium gas to the diameter of the balloon and the self-weight of the locomotion mechanisms was able to be confirmed. Finally, it was confirmed that the walking distance doubled if it designed by 1.5 times or more respected of the robot by the experiment.
