Title :
A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics
Author :
Tadokoro, Satoshi ; Fukuhara, Masahiko ; Maeba, Yosuke ; Konyo, Masashi ; Takamori, Toshi ; Oguro, Keisuke
Author_Institution :
Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Abstract :
Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future molluskan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.
Keywords :
conducting polymers; electric actuators; mobile robots; robot dynamics; Fukuhara-Tadokoro model; ICPF actuator; IPMC; dynamic model; electric imbalance; ion-induced lateral strain; ionic conducting polymer gel film; ionic migration; ionic polymer metal composite; molluskan robotics; shape deformation; sulfo groups; water imbalance; Actuators; Capacitive sensors; Fabrication; Mobile robots; Muscles; Polymers; Robustness; Service robots; Shape; Solvents;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1044051
