JRM Vol.16 No.3 pp. 286-292
doi: 10.20965/jrm.2004.p0286


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

October 20, 2003
December 5, 2003
June 20, 2004
articulated body, pneumatic link
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.
Cite this article as:
T. Aoki and S. Hirose, “Development of Slime Robot Using Bridle Bellows,” J. Robot. Mechatron., Vol.16 No.3, pp. 286-292, 2004.
Data files:
  1. [1] 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.
  2. [2] T. Aoki, H. Ono, and S. Hirose, “Study of Slime Robot (Realization of Bridle Bellows and Examination of Gaits),” Robotics Mechatronics Lecture Meeting, 2002.
  3. [3] T. Aoki, and S. Hirose, “Study of Slime Robot (Prototyping of Bridle Bellows and Experiment on Its Characteristics),” Robotics Mechatronics Lecture Meeting, 2003.

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