Discovery Sagaサイレントキーワード俯瞰

anisotropic friction / snake-like / soft-robot / locomotion / simulation / body design / fabrication / Soft Robot / Snake-like Robot / Anisotropic Friction / Bistability / Tendon-driven / multimode friction / soft-bodied robot / snake-like robot / locomotion gaits / printable robots

The achievement of the project in 2021 was finishing the simulator for the locomotion of the snake-like soft-bodied robot. The simulator focuses on switching the frictional patterns on the skin of the robot to realize different locomotion speeds. In combination with the experiment on real 3D printed robots, the simulation closely matches the locomotion of the real robots. This result is published in IPSJ Journal of Information Processing as follows:
T. D. Ta, T. Umedachi, M. Suzuki, and Y. Kawahara, “A Printable Soft-bodied Wriggle Robot with Frictional 2D-Anisotropy Surface,” Journal of Information Processing (JIP), Vol.30, pp.201-208, Mar. 2022. DOI:10.2197/ipsjjip.30.201.
Additionally, in a venture to find a better controlling mechanism for the soft-bodied robot, we published an article on reservoir computing for the soft-bodied robot as a part of the research project.
C. Caremel, M. Ishige, T. D. Ta, Y. Kawahara, “Echo States Network for Soft Actuator Control,” Journal of Robotics and Mechatronics, Special Issue on Science of Soft Robots, Vol.34, No.2, pp. 413-421, Apr. 2022. DOI:10.20965/jrm.2022.p0413.