DocumentCode
2034149
Title
Development of a quadruped soft robot with fully IPMC body
Author
Tomita, Naoki ; Takagi, Kentaro ; Asaka, Kinji
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
1687
Lastpage
1690
Abstract
This paper discusses the development of a small quadruped walking robot fully made of IPMC (Ionic Polymer-Metal Composite) actuator. From a sheet of IPMC with the patterned electrode, we obtain a soft robot whose actuator is the body structure itself. Utilizing the patterning of the electrodes, the IPMC robot achieves multi-degrees of freedom motion compared with conventional robots with non-patterned IPMCs. The experimental result demonstrates the motion and the property of the developed quadruped robot.
Keywords
electroactive polymer actuators; legged locomotion; motion control; IPMC actuator; IPMC body; IPMC robot; ionic polymer-metal composite; patterned electrode; quadruped soft robot; small quadruped walking robot; Actuators; Electrodes; Feedforward neural networks; Legged locomotion; Plastics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060237
Link To Document