This paper proposed a small and light weight flexible quadruped locomotion robot based on an easy ON-OFF control for forward motion and circular gait. We named a flexible, flat, plate to I-FFP actuator as an actuator of a flexible quadruped locomotion robot. The I-FFP actuator is a versatile actuators that mechanically obtains flexible displacement by combining functional materials like the shape-memory alloy with a simple lamina structure lightly not broken. The center of gravity movement for robot is achieved by the expansion and contraction of a this flexible lamina. Then, the assembling of this robot was completed in around several minutes. In this paper, we proposed a palm-sized quadruped locomotion robot of back-and-forth movement in addition to circular gait using easy switching ON-OFF control.
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