ソフトアクチュエータを用いたモグラ型ロボットの研究

抄録

In this research, we propose an underground excavation robot that can move in the ground. This robot reproduces the movement of moles using biomimetics. However, there are few detailed documents about the movement of moles. Therefore, it is performed from the analysis of the operation of the mole. In addition, this robot is the same size as the mole to omit the consideration of material properties and viscoelastic analysis. The mole is about 15cm in size, and this robot uses a hydraulic actuator with a low output weight ratio. This report reports on the analysis of the behavior of moles and the design of soft actuators.