Abstract
An Electro-conjugate Fluid (ECF) is a kind of functional fluid, which produces a flow (ECF flow) when subjected to high DC voltage. This study develops a novel inchworm robot having sucker at its front/rear ends which are driven by the ECF flow. The robot imitates the movement pattern of inchworm, and the motion is also generated by the ECF flow. First, we developed and evaluated the sucker, which is integrated with a pressure source, and the expansion/contraction actuator. Next, we developed the robot with 68 mm long, 10 mm wide and 9.5 g weight. Finally, we conducted moving experiments of the robot on an acrylic board. The robot could move on a horizontal surface, and surfaces with inclination of 40 degrees or less.
