Abstract
In this paper we described the balloon walking robot of soft legs mechanism in consideration of familiarity with human relations. The robot has the flexible blade spring mechanism which imitated the sport artificial leg in addition to heart-shaped appearance. This robot was designed for human support robot which is used in care worker, in order to use for prosthesis. This robot consists of three unit, interconnected by the soft joints of leaf spring legs mechanism and balloon. The three units are driven by on-off control using SMA. We propose the robot which controls buoyancy and explain walk operation of the soft lightweight robot.
