Creation of the mobile working robot with variable shape and stiffness by using hot-ice phenomenon

2013 Fiscal Year Final Research Report

• Project/Area Number: 23656173
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Yamagata University
• Principal Investigator: TADAKUMA Riichiro 山形大学, 理工学研究科, 准教授 (50520813)
• Co-Investigator(Kenkyū-buntansha): TADAKUMA Kenjiro 大阪大学, 大学院・工学研究科, 助教 (30508833)
• Project Period (FY): 2011 – 2013
• Keywords: ロボティクス / 知能ロボティックス / 知能機械 / 機械要素

Research Abstract

We have been studying the hyper flexible morphing mobile robot that has flexible gel states and can change its shape via a magnetic field. It can also change its stiffness by using hot-ice phenomenon. The basic performances and characteristics, movements, and abilities to change shape and stiffness of the prototypes have been confirmed through experiments. To expand the gel robot's motion range, we manufactured the omnidirectional X-Y stage to move neodymium magnets in any direction for the dexterous control of the magnetic field. This omnidirectional X-Y stage is composed of multiple spur gears those rotating axes are perpendicular to each other and the planar omnidirectional driving gears to move neodymium magnets with them smoothly. We also fabricated and tested a novel gel material that can change its shape and stiffness without any magnetic fields. Many types of gel robotic actuators were tested including robotic grippers and flexible omnidirectional driving gears.

Research Products

• [Journal Article] 全方向移動 ・ 駆動の機巧 (2014)
  • Author(s): 多田隈 建二郎
  • Journal Title: 日本ロボット学会誌 Volume: Vol.32, No.4 Pages: 354-357
  • DOI: 10.7210/jrsj.32.354
• [Journal Article] 全方向駆動歯車機構の研究 (2012)
  • Author(s): 多田隈 建二郎, 多田隈 理一郎, 井岡 恭平, 妻木 勇一
  • Journal Title: 日本ロボット学会誌 Volume: Vol.30,No.6 Pages: 611-620
  • DOI: 10.7210/jrsj.30.611
  • Peer Reviewed
• [Presentation] Torus Omnidirectional Driving Unit Mechanism Realized by Curved Crawler Belts (2014)
  • Author(s): Tadakuma, Kenjiro, Ogata, Hirohiko, Tadakuma, Riichiro, Berengueres, Jose
  • Organizer: 2014 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Hong Kong Convention and Exhibition Center, Hong Kong, China
  • Year and Date: 20140531-0607
• [Presentation] Experiments of a Variable Stiffness Robot Using Shape Memory Gel (2013)
  • Author(s): Yamano, Mitsuhiro, Goto, Daisuke, Ujiie, Kenji, Akiba, Naoki, Gong, Jin, Furukawa, Hidemitsu, Tadakuma, Riichiro
  • Organizer: 2013 IEEE/SICE International Symposium on System Integration
  • Place of Presentation: Kobe International Conference Center, Kobe, Japan
  • Year and Date: 20131215-17
• [Presentation] Study on Omnidirectional Driving Mechanisms to Realize Holonomic Power Transmission (2013)
  • Author(s): Riichiro Tadakuma, Kenjiro Tadakuma, Erick Fernando Moya Arimie
  • Organizer: 24th 2013 International Symposium on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya University, Nagoya, Japan
  • Year and Date: 20131110-13
• [Presentation] 形状記憶ゲルを用いた形状可変ロボットハンドの基礎実験 (2013)
  • Author(s): 氏家 健司, 秋葉 直樹, 山野 光裕, 宮 瑾, 古川 英光, 多田隈 理一郎
  • Organizer: 第31回日本ロボット学会 学術講演会
  • Place of Presentation: 首都大学東京 南大沢キャンパス, 東京都八王子市
  • Year and Date: 20130904-06
• [Presentation] Hyper Flexible Robot with Variable Stiffness and Shape (2013)
  • Author(s): Kenjiro Tadakuma, Erick Fernando Moya Arimie and Riichiro Tadakuma
  • Organizer: The 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: Wollongong, Australia
  • Year and Date: 20130709-12
• [Remarks]
  • URL: http://tadakuma.yz.yamagata-u.ac.jp/index.html