水駆動ソフトロボットによる間接的センシングを用いた障害物のくぐり抜け

抄録

In recent years, the soft robots equipping the viscoelastic materials have been reported. However, sensors and control methods suitable for soft robots have not been established. In this paper, deals with a water-driven robot, and we measure the information about contact objects such as terrain and obstacles by using a pressure sensor. A water pressure sensor was attached hear the chamber, the contact state of the chamber was detected, and the breakthrough of the obstacle was confirmed.