A control method for soft robots based on artificial musles

This paper describes simply a method how to control air muscles of lower limbs of an artificial life body developed recently(called "Ichiro"), at the Artificial Life and Robotics Laboratory of Oita University, Japan, by using compressed air controllers. The number of total air muscles is 22 where 11 air muscles are arranged in each leg. The experimental video results for controlling 24 air muscles of lower limes of "Ichiro" from stand up position to sit down position on a chair and from the sit down position on the chair to the stand up position are shown. Also, The experimental video data of a standing up on one leg and various leg movement are shown. The paper gives the brief description of the proposed control method.