Locomotion of Hydraulic Amoeba-Like Robot Utilizing Transition of Mass Distribution

  • Takashi TakumaEmail author
  • Kyotaro Hamachi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


A soft robot constructed using a soft material and driven by a soft actuator is receiving increased attention because it is expected to passively change its shape upon making contact with the environment. This paper proposes novel design for a soft robot that changes not only its shape but also its mass distribution. The robot adopts liquid as a fluid, and realizes locomotion by changing the local friction that is generated by the amount of mass of the containing liquid. In order to observe the effects of liquid flow, we constructed a robot with two flexible chambers and observed that the robot succeeded in moving forward by arranging the material construction of the chamber and timing of supplying/releasing the liquid. Experimental results showed that the robot realized approximately 57 mm of locomotion per cycle. We conclude that the large deformation and movement of the mass distribution enables successful locomotion.


  1. 1.
    Drotman, D., Jadhav, S., Karimi, M., deZonia, P., Tolley, M.T.: 3D printed soft actuators for a legged robot capable of navigating unstructured terrain. In: International Conference on Robotics and Automation (ICRA), pp. 5532–5538 (2017)Google Scholar
  2. 2.
    Al-Abeach, L.A.T., Nefti-Meziani, S., Davis, S.: Design of a variable stiffness soft dexterous gripper. Soft Robot 4(3), 274–284 (2017)CrossRefGoogle Scholar
  3. 3.
    Homberg, B.S., Katzschmann, R.K., Dogar, M.R., Rus, D.: Haptic identification of objects using a modular soft robotic gripper. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1698–1705 (2015)Google Scholar
  4. 4.
    Shepherda, R.F., Ilievskia, F., Choia, W., Morina, S.A., Stokesa, A.A., Mazzeoa, A.D., Chena, X., Wanga, M., Whitesides, G.M.: Multigait soft robot. In: Proceedings of the National Academy of Sciences of the United States of America, vol. 108, pp. 20400–20403 (2011)CrossRefGoogle Scholar
  5. 5.
    Umedachi, T., Vikas, V., Trimmer, B.A.: Highly deformable 3-D printed soft robot generating inching and crawling locomotions with variable friction legs. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4590–4595 (2013)Google Scholar
  6. 6.
    Laschi, C., Cianchetti, M., Mazzolai, B., Margheri, L., Follador, M., Dario, P.: Soft robot arm inspired by the octopus. Adv. Robot. 26(7), 709–727 (2012)CrossRefGoogle Scholar
  7. 7.
    Calisti, M., Member, S., Arienti, A., Renda, F., Levy, G., Hochner, B., Mazzolai, B., Dario, P.: Design and development of a soft robot with crawling and grasping capabilities. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 4950–4955 (2012)Google Scholar
  8. 8.
    Li, T., Li, G., Liang, Y., Cheng, T., Dai, J., Yang, X., Liu, B., Zeng, Z., Huang, Z., Luo, Y., Xie, T., Yang, W.: Fast-moving soft electronic fish. Sci. Adv. 3(4), e1602045 (2017)CrossRefGoogle Scholar
  9. 9.
    Katzschmann, R.K., Marchese, A.D., Rus, D.: Hydraulic autonomous soft robotic fish for 3D swimming. In: International Symposium on Experimental Robotics (ISER) (2014)Google Scholar
  10. 10.
    Chen, I.-M., Li, H.-S., Cathala, A.: Design and simulation of amoebot -0 a metamorphic underwater vehicle. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA), pp. 90–95 (1999)Google Scholar
  11. 11.
    Polygerinos, P., Correll, N., Morin, S.A., Mosadegh, B., Onal, C.D., Petersen, K., Cianchetti, M., Tolley, M.T., Shepherd, R.F.: Soft robotics: review of fluid-driven intrinsically soft devices; manufacturing, sensing, control, and applications in human-robot interaction. In: Advanced Engineering Materials (2017)Google Scholar
  12. 12.
    Marchese, A.D., Katzschmann, R.K., Rus, D.: A recipe for soft fluidic elastomer robots. Soft Robot 2(1), 7–25 (2015)CrossRefGoogle Scholar
  13. 13.
    Chou, C.P., Hannaford, B.: Measurement and modeling of McKibben pneumatic artificial muscles. IEEE Trans. Robot. Autom. 12(1), 90–102 (1996)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Osaka Institute of TechnologyOsakaJapan

Personalised recommendations