水力学的骨格を利用した繊毛アクチュエータ駆動型柔軟移動ロボット

抄録

This study proposes a new flexible mobile robot which is driven by ciliary actuator using fluid power. The proposed robot is capable of adaptive body shape change according to terrains. Moreover, the terrain will not be damaged because the ciliary actuators are flexible. This paper describes the components and performance of the proposed robot. The robot body has active DOFs of body width and direction. The prototype robot successfully climbed a vertical composite pipe which combines 160 mm and 200 mm in diameter. This robot also performed wireless climbing of a vertical pipe.