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Locomotion of Hydraulic Amoeba-Like Robot Utilizing Transition of Mass Distribution

  • Takashi TakumaEmail author
  • Kyotaro Hamachi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)

Abstract

A soft robot constructed using a soft material and driven by a soft actuator is receiving increased attention because it is expected to passively change its shape upon making contact with the environment. This paper proposes novel design for a soft robot that changes not only its shape but also its mass distribution. The robot adopts liquid as a fluid, and realizes locomotion by changing the local friction that is generated by the amount of mass of the containing liquid. In order to observe the effects of liquid flow, we constructed a robot with two flexible chambers and observed that the robot succeeded in moving forward by arranging the material construction of the chamber and timing of supplying/releasing the liquid. Experimental results showed that the robot realized approximately 57 mm of locomotion per cycle. We conclude that the large deformation and movement of the mass distribution enables successful locomotion.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Osaka Institute of TechnologyOsakaJapan

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