A snake-like swimming robot using IPMC actuator and verification of doping effect

Author

Yamakita, Masaki ; Kamamichi, Norihiro ; Kozuki, Takahiro ; Asaka, Kinji ; Luo, Zhi-wei

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

2035

Lastpage

2040

Abstract

Ionic polymer metal composite (IPMC) is one of the most promising EAF actuators for applications, and slave good property of response and durability. The characteristics of IPMC materials depend on a type of counter ion. In applying to mechanical systems such as a robot, there exist possibilities to change the properties of the dynamics by changing the counter ions according to environment or purpose adequately. In this paper, we consider swimming of a snake-like robot with IPMC actuator, and demonstrate a smooth swimming motion. Then, we also verify the doping effects by experiments.

Keywords

Doppler effect; actuators; composite materials; mobile robots; motion control; polymers; EAF actuator; IPMC actuator; counter ion; doping effect; ionic polymer metal composite; smooth swimming motion; snake-like swimming robot; Actuators; Counting circuits; Doping; Legged locomotion; Mechanical factors; Mechanical systems; Mobile robots; Polymer films; Polymer gels; Voltage; Doping effect; EAP; IPMC; Snake-like robot; Swimming robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545485

Filename

1545485