Abstract
In this paper, in order to unify the structure of a soft biped robot, all the terminal areas were fixed with adhesives. This robot can move to front, the back, and a horizontal direction using nail by attaching a nail such as a beetle at the tip of a robot's legs (FFP actuator) of a drive. The resulting soft walking robot weighs a mere 4.7g (with a height of 67mm, length of 109mm,breadth of 58mm ). We have confirmed about the angle of a robot's junction plates. And the influence of a walk was investigated.
