Development of Biologically Inspired Educational Robots Based on Gliding Locomotion

In this paper, two types of biologically inspired educational robots based on gliding locomotion are presented. Gliding locomotion utilizes the difference between two orthogonal reaction forces to propel. Since this locomotion principle is very interesting and difficult to intuitively understand, its way of locomotion effectively evokes intellectual curiosity of students. One actuated degree of freedom (DOF) fish-like educational robot and its lecture program are developed for primary, junior high and high school students. And a snake-like educational robot which can connect arbitrary number of units, and its lecture program are developed for university students. We carried out these programs through several lectures. The results are also discussed in this paper.