Study on slime robot: development of the mobile robot prototype model using bridle bellows

Slim slime robot (SSR), looks like an active cord mechanism (the snake-like robot) and composes units that can stretch, shrink and bend actively, is for several tasks in narrow spaces such as to move under collapsed houses or for inspection of pipelines in plants. In this paper, we propose the new concept, which is named "bridle drive". We developed the prototype model of the units of the SSR-2.3. Each unit has a bridle bellows composed of a large caliber bellows and wire lock system. The use of bridle bellows allows to produce a high output using air pressure, its shape can be changed by controlling the length of the wires.