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We have developed an earthworm-type 25A pipe inspection robot using a pneumatic drive. However, the developed robot had a low locomotion speed. This was due to the fact that the contraction amount of the pneumatic artificial muscle used for driving the actuator of the robot was small. To resolve the problem and increase the amount of movement of the robot, an extension actuator to extend in the axial...
Recently, flexible and light actuators that mimic muscle fibers have been actively researched. Here, we focused on an electroactive polymer (EAP) dielectric elastomer. To construct the actuator, the dielectric elastomer is rolled into a tube, and extended by applying a voltage across its electrodes. In this paper, we experimentally obtained a static characteristic model of the electrostrictive rubber...
A wide area ubiquitous network (WAUN) was proposed as a new network for achieving a ubiquitous/pervasive environment. A WAUN covers a geographically wide area and connects us to a large variety of sensors and actuators distributed in the real world. To detect events and to flexibly control actuators in the real world using this connectivity, we have proposed a data-sharing mechanism called uTupleSpace...
A sensor network covering a large area enables connection to various types of sensors and actuators, but application development becomes complicated because of the uncontrollable behavior of such a large number of devices. We propose the u Tuple Space model for uniform and indirect communication with two extensions to the original tuple space model. The extensions enable efficient range search for...
Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these...
Recently, as robots and humans have increasingly come to share common spaces, especially in the fields of the medical and home automation, it has become necessary to consider the frequent physical collision of robots and humans. However, many robot joints employ actuators with high-ratio gear trains. Therefore, when this type robot comes into human contact it may cause pain. This study describes the...
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