自己修復ゲルを用いたイモムシ型ロボットの尺取り動作の再現

抄録

In this paper, we propose a caterpillar-type soft robot using self-healing gel. The robot uses SMA wires as actuators and self-healing gel as the body. The two wires are placed in the gel so that the dorsal wire bends to the dorsal side and the ventral wire bends to the ventral side to simulate the walking of inchworm. Body of this robot is made of gel, which self-repairs itself when it comes into contact with other surfaces, so that when it is cut, it can repair itself simply by joining the cut surfaces. Furthermore, since magnets are embedded in the edges of each unit, the units can autonomously join and repair themselves without any external help.