A novel pneumatic rubber actuator for mobile robot bases

A new, pneumatic rubber actuator, named bubbler, realizing linear motion has been designed, developed and tested. The bubbler consists of a silicone rubber slab, and its inside is divided into twelve chambers each having a square cross section. If pressure is applied to successive chambers sequentially, the surface of the bubbler produces a linear traveling wave. It can be used for a mobile robot base or for a conveyor. Experimental results are very promising. The walking speed of the prototype, 63 mm×60 mm×9 mm in size, was found to be 3.6 mm/s and the load-to-weight ratio in the order of 40:1. A demonstration board using two bubblers works as a mobile robot base realizing forward/backward and steering motions