Abstract
We developed an earthworm robot that is made from a shape memory alloy called BioMetal (trademark of TOKI CORPORATION) and uses polyester braided tube as an actuator. BioMetal is a current-driven type fiber-like solid-state actuator which is structured by special fabrication method from a Ti-Ni shape-memory alloy. We used BioMetal Helix (BMX) series to get contraction force. It becomes stiff like a piano wire and sharply contracts 100-200% of the length, when current fed through it. To get extension force, we use polyester braided tube. It spreads to between 1.5 and 4 times its width under pressure. It is used to protect wires essentially, but we aimed at the extension force to recover original width. Finally, we realized a motion like earthworm by connecting four flexible units and controlling flexible timing by the microcomputer.
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