2013 年 79 巻 808 号 p. 4831-4841
In this paper, author show a flexible bipedal soft robot which consisted of a SMA(shape memory alloy) and a thin polyethylene plate with nail and stopper. Author proposed to the flexible biped robot which consisted of a SMA(shape memory alloy) and a thin polyethylene plate. This robot can move to front, the back, and a horizontal direction using nail by attaching a nail such as a beetle at the tip of a robot's legs (FFP actuator) of a drive. And the combination it is possible walking by making ON-OFF signal timing of output and input combination. Therefore, in order to realize a flexible biped robot, a mechanism and signal timing need to be harmonized. The ON-OFF switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The resulting soft walking robot weighs a mere 4.7g (with a height of 67mm, length of 109mm,breadth of 58mm). The experimental results demonstrate the viability and utility of the soft biped walking robot based on FFP actuator and the control strategy to achieve walking behavior.