Omnidirectional Expanding Torus Mechanism for Edible Robotics

Abstract

This paper discusses the edible robot with expandable torus mechanism as a core configuration. The proposed torus mechanism is mainly made of gelatin. We built the prototype of the torus configuration and proposed the reflexive motion to the torus mechanism which based on the reflexive bending motion of the arm mechanism we developed at the past. From the experiment, the mechanism needs more softness and we found the needs to develop the way to keep the edible robots in the container. We are developing the edible gear, wheel, track, gripper, leg and so on in this edible robotics researches.