Year: 2024
Type: conference-paper
Abstract: Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder link is made of a double-layered structure of tarpaulin sheet and polyurethane sheet, which is both airtight and flexible in shape. The integration of the Hilberry joint into an inflatable robot is also a new approach. The rolling contact joint allows wide range of motion of ±150°, the largest among the conventional inflatable joints. Using the proposed mechanism for inflatable robots, we demonstrated moving a 500 g payload with a 3-DoF arm and lifting 3.4 kg and 5 kg payloads with 2-DoF and 1-DoF arms, respectively. We also experimented with a single 3-DoF inflatable leg attached to a dolly to show that the proposed structure worked for legged locomotion.
Authors: Katsu Uchiyama, Ryuma Niiyama
Institution: Meiji University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4405787560