Abstract
Peristaltic movement of earthworm is more useful than other motion to move in small space. Therefore, earthworm robot has various uses such as rescue operation in disaster sites, inspection laying pipes, and so on. In this study, our purpose is development of earthworm robot using SMA (Shape Memory Alloy) actuator. The mechanism using SMA actuator is lighter and smaller than one using other actuators. However, SMA actuator is easily affected by temperature disturbance. Then, Control method of peristaltic movement by measuring electric resistance of SMA is proposed. Optimization of expansion- and contraction-timing of SMA, and strain control of SMA are examined.
