Abstract
This paper describes a robot that change external environment for expanding movability. Termites (Macrotermes carbonarius) construct huge mound (7-8m) which made from tiny pellet (soil, saliva and feces). A pellet creates potential field as pheromone, attracts nestmates. The nestmates put another pellet nearby the pellet. As a result, the termites build the mound. This behavior called as "Stigmergy". A rescue robot is made for accomplishing on irregular ground. But, the robot is set performance limit when it designed. If the robot has function which changes external environment, the robot can move anywhere. In this study, we develop a robot which can change external environment for expanding movability. The robot uses urethane foam to change environment. The robot infill a gap in an experiment.
