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In this paper, we develop a new type of snake-like robot using screw-drive units that are connected by active joints. The screw-drive units enable the robot to generate propulsion on any side of the body in contact with environments. Another feature of this robot is the omnidirectional mobility by combinations of screws' angular velocities. We also derive a(More)
The proton-conductive spots on the membrane surface of sulfonated poly(arylene ether) multiblock copolymer were successfully imaged by current-sensing atomic force microscopy under hydrogen atmosphere at various temperatures and humidities. These spots should be connected to the proton-conductive paths inside the membrane. The average diameter of the spots(More)
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