Development of electromotive amoeba-like hydraulic soft robot

摘要

Although a soft robot that transforms its shape according to contacting obstacles or terrain shapes adaptively is expected to be utilized for many types of application, a feed-back control system including sensing units and actuation has not been established. This paper deals with a soft robot, especially a water-driven robot, and discusses a method to measure information about contacting objects such as terrain and obstacles by using pressure sensor. In order to achieve such information, we observed a profile of the pressure sensor, and pointed out comprehensible characteristics of the data. By utilizing such data, the paper suggests one of the appropriate methods for the soft robot.