@article{oai:repo.qst.go.jp:00085353,
 author = {Tung, D. Ta (The University of Tokyo) and Takuya, Umedachi (Shinshu University) and Suzuki, Michiyo and Yoshihiro, Kawahara (The University of Tokyo) and Michiyo, Suzuki},
 journal = {Journal of Information Processing},
 month = {Mar},
 note = {Soft-bodied animals move by using the anisotropy of friction between their body and the environment. Inspired by these structures, we propose a wriggle soft-bodied robot with an anisotropic frictional skin to support its locomotion. We combine soft and rigid materials in 3D printers to make different patterns of frictional anisotropy. We build a simulation model to predict the locomotion speed of the robot with different anisotropic frictional patterns. By using these patterns as the ventral side, we design a wriggle soft-bodied robot that can move 2.8 times faster than that of an omnidirectional frictional ventral. The fabrication time is less than one hour, and the locomotion speed is 0.17 body-lengths per second.},
 pages = {201--208},
 title = {A Printable Soft-bodied Wriggle Robot with Frictional 2D-anisotropy Surface},
 volume = {30},
 year = {2022}
}