チンアナゴの砂潜り動作を参考にした柔軟ケーブル形ロボット

ー細径化のための方策―

抄録

This paper describes the development of a flexible cable type robot aimed to travel in the sand available for rescue operation or marine resource exploration. To realize it, we have developed a robot made of soft tube material driven by pneumatics, inspired by the garden eel capable of diving in the sand quickly and deeply. In this study, we propose a new structure thinner than the previous one, aiming to dive into 350mm of depth with the reduction of consumed air, enhancement of response, and improvement of insertability. Finally, we verify the validity of the proposed structure through the experiment by the prototype.