The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 1P2-D01
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1P2-D01 Improvement of Walking Performances for the One-Sheet Type Biped Soft Robot using SMA
Hiroki Toya, Mami Nishida, Genki Aoyama
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Keywords: Flexible Actuator, Soft robot, Biped robot, SMA, ON-OFF Control, Light-weight, Small size, Nails, Stopper
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Abstract
This paper presents a one-sheet type biped soft robot using shape memory alloys(SMAs) for not to damage cultural assets. A sheet structure is assembled from one polyethylene plate only. The paper shows a SMA actuators consisting of a thin polyethylene plate and biped soft robot like paper folding, or "Origami". In this study, we attempted to improve the mechanisms for walking by the improvement of nails and stopper.
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© 2015 The Japan Society of Mechanical Engineers
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