Abstract
This paper presents the development of continuously deformable body driven by thin McKibben muscles. The robot structure is made using a thin and long non-rigid plate with six thin muscles at both sides of the body. The system has a redundant mechanism using 12 DOF and can perform various types of motions such as bending and snake-like motion. By regulating the air with different frequencies from on/off valves, the robot successfully demonstrates smooth snake-like motions. Motion capture system was used to further analyzed of the robot's movement.
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