Development of Slime Robot Using Bridle Bellows
Takeshi Aoki, and Shigeo Hirose
Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro, Tokyo 152-8552, Japan
Slim Slime Robot (SSR) looked like the active cord mechanism (the snake like robot) and composed of units that can stretch, shrink and bend actively, is for several tasks in the narrow space such as moving under collapsed houses and inspection of pipelines at plants. In this paper, we propose new concept, it is named “Bridle Drive.” And we developed the prototype model of the units of the SSR-II. This unit has the Bridle Bellows composed of a large caliber bellows and wire lock system. Bridle Bellows is able to change shape by controlling wire length and air pressure and produces a large power.
-  H. Ono, and S. Hirose, “Study of Slime Robot (Prototyping of Slim Slime Robot and Travel experiment by the 3D gait),” Robotics Mechatronics Lecture Meeting, 2001.
-  T. Aoki, H. Ono, and S. Hirose, “Study of Slime Robot (Realization of Bridle Bellows and Examination of Gaits),” Robotics Mechatronics Lecture Meeting, 2002.
-  T. Aoki, and S. Hirose, “Study of Slime Robot (Prototyping of Bridle Bellows and Experiment on Its Characteristics),” Robotics Mechatronics Lecture Meeting, 2003.
Copyright© 2004 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.