Micro rubber structure realizing multi-legged passive walking -integration and miniaturization by micro rubber molding process-

The final goal of this work is the development of functional rubber sheets with micro rubber structure such as friction free, adhesion, and impact adsorption rubbers, etc. In the previous report, we reported a micro rubber structure realizing flexible passive walking with 3 v-shaped units consisting of 4 legs to achieve very low friction. In this second report, we show the miniaturization and integration of this structure to realize a rubber sheet with 64 legs by micro rubber molding process using stereo lithography method. The prototype is designed and fabricated, and tested. Under some conditions, the 64 legged rubber sheet realizes flexible passive walking on a sloping road successfully.