機械的アクションポテンシャルに基づくダンゴムシ型ロボットの俊敏逃避行動の実現

抄録

Pill bugs perform a defensive motion to protect the abdomen by momentarily bending of the body against slight stimuli. Although the development of robots that exert such instantaneous power has been actively developed, all require precise control system design, and there is a delay in response due to electrical feedback control. In this study, we propose the mechanical structure realize instantaneous bending behavior Pill bugs. For the structure we adopted a tensegrity structure as a method of manufacturing a robot to realize it. By adopting a tensegrity structure as a robot body that can exhibit whole-body perception and instantaneous behavior, it was confirmed that the structure realized a movement close to a Pill bug with lightweight members, and without electrical signals.