TAOYAKA-S III : Soft multi-legged robot for climbing unknown columnar objects : Realization of self-contained mechanism

Abstract

In this study, we improved upon our previous soft multi-legged robot TAOYAKA-S II and developed a new robot (TAOYAKA-S III) that contains all the necessary functions for autonomous movement. To realize the new robot, we redesigned the soft body to reduce its weight. Further, we embedded batteries, small servo motors, and a microcomputer into the body. To demonstrate the effectiveness, we conducted experiments that required the robot to climb unknown columnar objects such as pipes, and a squire pillar; thus, effective behavior to climb columnar objects was successfully realized.