Abstract
Essential safety is required in the place where humans and robots cooperate. To secure safety, it is one way to achieve that moving parts of those robots are lightweight and flexible. So far, bending type soft actuator by pleated plastic film has been developed. In this paper, we describe a development of a polypod mobile robot utilizing the plastic-film soft actuators as driving legs. It is expected some advantages which are the driving stability of irregular ground, the lightweight and portability of the robot. This paper indicates two points on the robot that design method of the legs and control method that the robot can realize forward and rotate movement verified experimentally.
