@misc{oai:uec.repo.nii.ac.jp:00001146,
 author = {西田, 麻美 and Nishida, Mami},
 month = {2016-09-16},
 note = {2008, Recently, in the environment that coexists with human, the researchof the robots that thinks about life is demanded. As for human behavior,safety and flexibility are necessary for the robots because it is verycomplex. In addition, we demand the ability to move the body freelyfrom the robot. However, generally present walking robots are large,heavy, hard body structure. Therefore, there is a possibility of harminghuman when coming in contact at an early speed. So as not to havecome in contact with human up to now, it has avoided clash on therobots side. In a word, software of robots is controlled well and theproblem of the collision has been solved. However, it is difficult to solvethe clash problem completely with the software of the robot becausehuman is complex. Therefore, the walking robot from which the wholebody is encompassed with flexibility is necessary. We investigatedpaying attention to the main part of the robot like links and actuators.As a result, a lot of solid body links and the solid body actuators areresearched. And, our life has changed greatly by those robots. However,the research of the robot with a flexible whole body is very little. Inaddition, the robot has the problem of the passing speed of takingabout as much as eight minutes a drive. On the other hand, a flexiblerobot of the polymer gel should be used with the liquid. Therefore,there is a problem that the range that can be driven is limited.Therefore, the robot where it walks by a flexible body has not beenachieved globally. Then, a flexible robot greatly depends on theactuator. A lot of artificial muscular actuators are researched now.However, those actuators have the problem that the rigidity is low asthe link and the using in water. In addition, mounting is difficultthough there is a robot that moves rubber by using the air actuator, too.Thus, there is no actuator that can use flexibility as a walking robot.Then, we developed some flexible robots where it walked by using thedisplacement of a flexible link of laminae. These robots are locomotionstrategies different from a past mechanism. And, we finally aim toexpand the field of research of the flexible walking robot.This dissertation is composed of Chapter 6, and each content of achapter is as follows. Chapter 1 describes the background and thetrend of the research, and shows the issues and the problem of a pastrobots. Next, I explains the purpose, and the composition of thedissertation has been put together. In Chapter 2, I investigated aflexible actuator. And, I proposes the FFP actuator that combines SMA(shape-memory alloy) and a lamina for a walking robot. As for theproduced FFP （Flexible Flat Plate ）actuator, it is disengaged from theliquid and assembly in the robot is easy because of a simplemechanism. In addition, the dynamic characteristic of the FFPactuator is evaluated for the development of the robots from the nextchapter. In Chapter 3, to expand the field of research of the flexiblewalking robot, some kinds of the FFP actuators are presented. Theexpansion of the movement morph and the effectiveness of the robotsare referred by achieving the robot. In Chapter 4, the two-leggedwalking robot was developed for the flexible walking robot of thesimplest composition and the control. And, the examination ofeffectiveness and the problem is added from the result of the walkingachievement. In Chapters 5, quadruped walking robot was developed.And, the payload of the robot was confirmed. The gait pattern of therobot (advancement walking, retreat walking, and turn walking) wasestablished at eventually. Chapter 6 refers the view and the problemin the future. As mentioned above, this dissertation is a summary ofpurport of developing the walking robot using the displacement of aflexible link, and expanding the flexible walking robot field.},
 title = {可撓性材料からなる歩行ロボットに関する研究},
 year = {},
 yomi = {ニシダ, マミ}
}