This paper proposed a small and light actuator based on an easy ON-OFF control to movement walking robot. We named a Flexible, Flat Plate to FFP actuator as an actuator of a flexible locomotion robot. The FFP actuator is a versatile actuator that mechanically obtains flexible displacement by combining functional materials like the shape-memory alloy with a simple lamina structure lightly not broken. The center of gravity movement is achieved by the expansion and contraction of a flexible lamina. In the robots that proposes, the actuators and the structures are unification. The assembly of this robot is possible at few time. The resulting robot weighs a mear 5.8g (with a height of 80mm). By miniaturizing flexible robots, execution of more detailed work becomes possible. This robot is certain to save the loading payload approximately 1.5 times the empty weight of the robot (onboard load of the about 0g). We achieved quadruped locomotion robot without the falling depending on the average speed of about 1.5mm/second.

This paper describes an application of flexible flat plate (FFP) actuators (consisting of shape memory alloy (SMA) and polyethylene plate) to some legged locomotion robots. A key feature is that the legged locomotion robots developed in this paper have no joints. In other words, the FFP actuators that become the robot legs (links) can directly generate power by their deflections. In addition, the assembly time of the FFP actuators is short due to their simple structure. After investigating the fundamental properties of the FFP actuators, we propose ten types of FFP–actuators that are available for assembling a wide variety of legged locomotion robots. Two–legged and four–legged locomotion robots developed in this paper realize walking by transferring the elastic potential energy (generated by deflections of the FFP actuators) to kinematic energy. We demonstrate that the leg displacement can be controlled by adjusting the deflection of the FFP actuators with simple ON–OFF signals.

This paper presents a study on the development and control of a micro biped walking robot using shape memory alloys (SMAs). We propose a flexible flat plate (FFP) consisting of a polyethylene plate and SMAs. Based on a detailed investigation of the properties of the SMA-based FFP structure, we develop a lightweight micro walking robot incorporating multiple SMA-based FFPs. The walking robot has four degrees of freedom and is controlled by switching the ON-OFF current signals to the SMA-based FFPs. The switching timing, central to the control strategy to achieve walking behavior, is determined through experiments. The micro robot realizes biped walking by transferring the elastic potential energy (generated by deflections of the SMA-based FFPs) to kinematic energy. The resulting micro biped walking robot weighs a mere 2.8 g (with a height of 70 mm). Our experimental results demonstrate the viability and utility of the micro walking robot with the proposed SMA-based FFPs and the control strategy to achieve walking behavior