Development of Six-Legged Mobile Robot Using Tetrahedral Shaped Pneumatic Soft Actuators

Abstract

Based on elderly society and decreasing birth rates in Japan, the rehabilitation device that can be used in home or hospital without assistance has been desired. In the previous study, a tetrahedral shaped flexible actuator using three extension type flexible pneumatic actuators was proposed and tested as a wrist rehabilitation device. The tetrahedral shaped actuator can extend longitudinally and bend toward any radial direction. In this study, a mobile robot using six tetrahedral shaped actuators that can use a core training and amusement for patients and elderly is proposed and tested. In this paper, the construction and operating principle of the tested robot was described. The control system using a micro-computer and 18 on/off valves was also described. In addition, the walking and rotating tests using the tested robot was carried out.