Crawling and Jumping Soft Robots Heads: Shinichi Hirai Contact: Yasuaki Matsumoto Date: 2002 - Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by:NEDO 21st Century Robot Challenge Program Associated lab/group:Hirai Lab. (Dept. Textile Eng., Shinshu Univ.)

Project Description

In this research, we will develop a robot capable of rough terrain locomotion by its rolling and jumping. A robot consisting of deformable soft body and flexible actuators can roll and jump on a ground by the deformation of its deformable body.

Jumping of Spherical Soft Robot

Hill-climbing of Spherical Soft Robot

Rolling of Circular Soft Robot

Rolling of Circular Soft Robot (high-resolution)

Hill-climbing of Circular Soft Robot

Personnel

	Name	Title	Degree
	Yasuaki Matsumoto	Graduated	Master of Eng.
	Masayuki Miyazaki	Graduated	Master of Eng.
	Fumio Saijyo	Graduated
	Kenji Enomoto	Graduated
	Hisashi Nakanishi	Graduated	Master of Eng.
	Yoshinari Matsuyama	Graduated	Master of Eng.
	Ayumi Shiotsu	Graduated	Master of Eng.
	Yuuta Sugiyama	Graduated	Master of Eng.

Publications

• Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, Marcelo H. Ang Jr. and Oussama Khatib eds., Experimental Robotics IX, Springer, Springer Tracts in Advanced Robotics 21, pp.281-290, 2006

• Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, International Journal of Robotics Research, Vol.25, No.5-6, pp.603-620, May-June, 2006

• Yasuaki Matsumoto, Hisashi Nakanishi, and Shinichi Hirai, Rolling Locomotion of a Deformable Soft Robot with Built-in Power Source, Proc. 11th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), pp.365-372, Sept. 8-10, Coimbra, Portugal, 2008
• Masayuki Miyazaki and Shinichi Hirai, Jumping via Robot Body Deformation - Mechanics and Mechanism for Higher Jumping -, Proc. 11th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), pp.373-380, Sept. 8-10, Coimbra, Portugal, 2008
• Yoshinari Matsuyama and Shinichi Hirai, Analysis of Circular Robot Jumping by Body Deformation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1968-1973, Rome, April, 2007
• Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, and Shinichi Hirai, Circular/Spherical Robots for Crawling and Jumping, Proc. IEEE Int. Conf. on Robotics and Automation, pp.3606-3611, Barcelona, April, 2005
• Ayumi Shiotsu, Masafumi Yamanaka, Yoshinari Matsuyama, Hisashi Nakanishi, Yoshiyuki Hara, Tatsuhiko Tsuboi, Takashi Iwade, Yuuta Sugiyama, and Shinichi Hirai, Crawling and Jumping Soft Robot KOHARO, Proc. 36th Int. Symp. on Robotics, Tokyo, November, 2005
• Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping of Deformable Soft Robot, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3276-3281, Sendai, September, 2004
• Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, Proc. Int. Symp. on Experimental Robotics, Singapore, June, 2004

Notes

Soft robot with built-in power source (MPEG 8.7MB)
Spherical soft robot jumping (MPEG 7.3MB)	Spherical soft robot hill-climbing (MPEG 6.9MB)	Circular soft robot crawling (MOV 4.0MB)	Circular soft robot hill-climbing (MPEG 2.5MB)	KOHARO MC demonstration (MPEG 101MB)

Related Sites

• Virtual Rheology Project
• Demonstration in Prototype Robot Exhibition, Expo 2005 Aichi, Japan
• Prototype Robot Exhibition, Expo 2005 Aichi, Japan
• Robot Station, Expo 2005 Aichi, Japan
• Sodaplay