1P1-F09 Flexible Hermetically-Sealed Mobile Robot Using Hydraulic Skeleton : Miniaturization and Speed-up by Fabric Materials(Flexible Robot/Mechanism and its Control)

Abstract

This study proposes a new exible hermetically-sealed mobile robot named "MOLOOP". MOLOOP is driven by hydraulic skeleton mechanism, which is found in exible creatures such as earth worm. In our former robot, the driving force and speed are not enough because of low performance of the uid-bags used as actuators. This report describes a new MOLOOP prototype which makes use of new reinforced uid bags. Moving speed of New MOLOOP is 9mm/s whereas 3mm/s with the former type.