水冷エンジンと高分子を活用した温柔なヒューマノイドロボット実現に関する取り組み

抄録

A communication robot with a human-like touch is useful. Warmth, softness, and the capability to get in motion are important to realize such a robot. We proposed the use of polymer materials and drive using a water-cooled engine for the cogeneration of body heat to conserve energy. The soft flesh made from gel and joints made of polymer, a circulation system to heat the flesh with coolant, and multiple clutches to move the robot‘s arm with a single driving source were implemented partly. For the fingers, we proposed a braid system to reduce the number of degrees of freedom for driving. In tests with an induction motor and sheath heater, driving the robot‘s arm and fingers by a single driving source and warming of the arm body surface with warm water were achieved. The design of the engine unit and the thermal drive of the polymer actuator were studied.