Title :
Integrated design of IPMC actuator/sensor
Author :
Yamakita, Masaki ; Sera, Akio ; Kamamichi, Norihiro ; Asaka, Kinji ; Luo, Zhi-wei
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol.
Abstract :
We are studying about robotic application of ionic polymer-metal composite (IPMC). The characteristics of IPMC highly depend on the type of counter-ions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counter-ions and applying an integrated control. IPMC has also a sensor function, as the IPMC film generates electromotive force when it is deformed. It has possibility to be integrated into IPMC actuator with soft actuation. In this paper, we consider an integrated design of IPMC actuator/sensor, and investigate a control of the combined IPMC actuators using Hinfin control and the construction of IPMC sensor system
Keywords :
Hinfin control; composite materials; conducting polymers; electric potential; electric sensing devices; robots; Hinfin control; IPMC actuator; IPMC sensor system; electromotive force; ionic polymer-metal composite; robotic application; soft actuation; Actuators; Chemical industry; Chemical technology; Counting circuits; Mechanical sensors; Polymer films; Polymer gels; Robot sensing systems; Sensor phenomena and characterization; Sensor systems;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641973
