両面の半径が可変な円錐台型アクチュエータを連結した曲面形状ロボットの具現化

抄録

The integration of truncated conical actuators, whose radius can be actively controlled, realizes a surface robot that can bend both sides. We call this concept an S-isothermic surface robot and have realized a new pneumatically driven robot. We applied a simple pressure pattern to the robot and measured the robot’s deformation using a motion capture system. From the deformation results, the curvature and pseudo-isometric error will be discussed.