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

Volume

2

fYear

2002

fDate

2002

Firstpage

2010

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1044051

Filename

1044051