Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In order to move on uneven ground, control with sensor such as a force sensor is necessary. Thus, we propose a soft continuum leg robot. The continuum legs passively change the shape and improve the ground adaptability without using the sensor. Moreover, the development of the continuum legs referred to brittle star. Brittle star is a moving creature that uses thin, long and flexible legs. It has a high step climbing ability and omnidirectional movement ability with five legs interlocked. These abilities are useful for mobile robots. In this paper, we describe development of the elliptic ball joint and the prototype of continuum legs with reference to brittle star.
