A study on the design of bio-inspired invertebrate robot based on functional fluids

2023 Fiscal Year Final Research Report

• Project/Area Number: 20K19890
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 61050:Intelligent robotics-related
• Research Institution: Shinshu University (2023); Meiji University (2022); The University of Tokyo (2020-2021)
• Principal Investigator: OR Keung 信州大学, 先鋭領域融合研究群社会基盤研究所, 特任講師 (70821122)
• Project Period (FY): 2020-04-01 – 2024-03-31
• Keywords: ソフトロボティクス / バイオインスパイアード

Outline of Final Research Achievements

Throughout evolution, organisms have developed remarkable functions and abilities. The design approach that actively incorporates and transfers these functions, abilities, and structures found in biological systems into robotic design is known as bio-inspired design, and it has received significant attention in recent years. Researchers in the field of bio-inspired robotics often focus on vertebrates, using actuation methods such as artificial muscles or wires. However, only a few researchers have paid attention to invertebrates, such as earthworms. In this study, we focused on the soft bodies of invertebrates that neither develop nor retain a vertebral column, and developed a compact robot that mimics an earthworm using soft robotics techniques. The fabricated robot is capable of performing peristaltic movements in the soil, enabling it to burrow and advance.

Free Research Field

ソフトロボット

Academic Significance and Societal Importance of the Research Achievements

生物は進化の過程を通じて、優れた機能や能力を獲得してきた。その優れた機能や能力をロボットの設計に生かすことで、ロボットの性能向上に貢献できる。特に無脊椎動物のような着目されていない生物システムの能力をロボットで実現することは、無脊椎動物のしなやかさを生み出す原理の解明など学術的な意義だけでなく、狭いところの探索など様々な場面で活用できる。さらに、協調ロボットなど人間と一緒に働く場面では、柔らかい構造が求められている。そのため、ソフトロボティクスの要素技術として、柔らかさを求める場面での活用に期待できる。