Pneumatically-Driven Active Cord Mechanism “Slim Slime Robot”
Hidetaka Ohno* and Shigeo Hirose**
*Department of Mechanical Engineering, Shonan Institute of Technology, 1-1-25 Tujido Nishi-Kaigan, Fujisawa-shi, Kanagawa 251-8511, Japan
**HiBot Corporation, Daichi Hanatani Building #801, 2-18-3 Shimomeguro, Meguro-ku, Tokyo 153-0064, Japan
The Slim Slime Robot is a hyper redundant mobile robot with three-dimensional workspace composed of serially connected modules driven by pneumatic actuators. This paper covers the design and control of the Slim Slime Robot.
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-  H. Ohno and S. Hirose, “Study on Active Cord Mechanisms – Basic Design of Pneumatically Driven Active Cord Mechanism –,” J. of Robocits and Mechatronics, Vol.15, No.4, pp. 416-423, 2003.
-  H. Ohno and S. Hirose, “Study on Active Cord Mechanisms – Biomechanical Consideration on its 3D Gaits –,” J. of Robocits and Mechatronics, Vol.15, No.4, pp. 424-431, 2003.
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