細径人工筋駆動型ソフトテンセグリティーロボット

抄録

This paper describes a soft robot that aims to move forward in an unknown space as it recognizes and adapts to the spatial shape of the environment. It was previously reported that soft tensegrity and Recurrent Neural Network (RNN) can be used to realize tensegrity structure shape recognition. In this study, a tensegrity robot was designed to actively generate propulsive force as it presses its body against a wall in its surrounding environment. This robot design includes a novel artificial muscle arrangement called ”4/3 muscle winding,” which induces large deformation in the tensegrity structure. This tensegrity robot could enter an unknown space, such as a cave, and recognize the spatial shape of the surrounding environment by recognizing the tensegrity structure shape.