Abstract
Now, many pet robots for animal therapy are developed. Since the pet robot needs to come into contact with people, weight reduction and improvement of touch are important. In this research, improved is the use number reduction and miniaturization actuator, of touch and weight of the pet robot. As for the mechanism to transmit the power to each joint, flexible resin wires were adopted to decrease the rigidity of the joints, thereby reducing the possibility of injury in case a finger is caught, etc.
