湾曲型空気圧ゴム人工筋肉を用いた正二十面体型自歪ロボットの開発と走行実験

抄録

In our laboratory, we are researching a soft robot that rolls by distorting its own body by constructing its body with artificial muscles like a wireframe model. By improving the cube-shaped self-distortion robot developed in a previous research, we developed icosahedral self-distortion robot. In this robot, the frame part of the robot is composed of 30 bending artificial muscles. The main components of this robot are artificial muscles and pneumatic systems, then I developed artificial muscles, terminals, and touch sensors, which are part of the component. The terminal is component used for plug, air supply, and connection to other artificial muscle. The sensor is attached to each corner of the robot. This sensor can grasp the posture of the robot by reading the reaction force from the floor. In this study, it was confirmed that this sensor can be used for this robot by testing the operation of the sensor.