3A1-K02 Proposal of substance circulatory method for robotics system that utilizes the substance taken in from the environment for self-repair and self-maintenance(Bio-Mimetics and Bio-Mechatronics)

Abstract

We proposed an artificial circulatory system of distributes substances in robot's body. We establish the system requirements for this system, 1) it is small enough to load on human-sized robot, 2) it can deliver multiple substances ,3) it can deliver to multiple component. Based on these, we propose substance circulatory method, 1) encapsulating substance, 2) circulating capsule in channel filled with fluid, 3) distributing capsules according to the size. We conducted evaluation experiments for evaluating circulatory and distribution performance of this system. In circulatory experiment, we confirmed that capsules can be delivered without break. In distribution experiment, we confirmed that this system can obtain target objects.