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JRM Vol.22 No.2 pp. 167-172
doi: 10.20965/jrm.2010.p0167
(2010)

Paper:

Micro Rubber Structures for Passive Walking

Koichi Suzumori and Fumitaka Saito

Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

Received:
September 28, 2009
Accepted:
January 17, 2010
Published:
April 20, 2010
Keywords:
soft mechanism, micro machine, passive walking
Abstract

The final goal of this work is the development of functional rubber sheets with micro rubber structures such as friction free, adhesion, and impact adsorption rubbers, etc. We report a micro rubber structure that can successfully perform flexible passive walking with 3 V-shaped units consisting of 4 legs to achieve very low friction. We show how to miniaturize and integrate this structure to produce, by means of a micro rubber molding process using the stereo lithography method, a rubber sheet with 64 legs. The prototype is designed, fabricated, and tested. Under certain conditions, the 64-legged rubber sheet successfully realizes flexible passive walking down an incline.

Cite this article as:
Koichi Suzumori and Fumitaka Saito, “Micro Rubber Structures for Passive Walking,” J. Robot. Mechatron., Vol.22, No.2, pp. 167-172, 2010.
Data files:
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