Experiments of a two-arm robot using shape memory gel

摘要

Many robots are designed so that the number of their actuators is as small as possible to decrease their weight. In many cases, the number of actuators in robots is smaller than that of muscles in animals. We propose the method to increase the dexterity of the robot without increase of actuators. The link made from shape memory gel (SMG) is deformed to be suitable for each task of the robot. The methods of link deformation and shape recovery of a two-arm robot are presented. In the link deformation process, the SMG attached at one hand is deformed by the other hand. The shape memory function of SMG enables quick and simple shape recovery. That contributes efficient repetition of deformation and shape recovery process. Finally, we show the basic experiments using an upper body humanoid robot to show the validity of the method.