Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
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 investigate the effective spirals for the DOF reduction of the continuum leg with reference to brittle star, and calculate the design parameters that can express the target helix.
