ICPF actuator-based novel type of 3D swimming microrobot

This paper presents the research toward a small autonomous biomimetic microrobot that can swim in a 3D environment. The overall size of the microrobot is 99 mm in length, 36 mm in width, and 22 mm in thickness. The microrobot is propelled by ICPF (ionic conducting polymer film) actuators which act as caudal fin and pectoral fins respectively. Infrared sensors are equipped on the microrobot for wireless control and autonomous navigation. The weight of the microrobot is 25g. The ascent-descent swimming pattern of the microrobot is realized by the pectoral fins. The experimental results show that the structure of the microrobot can realize 3D swimming motion.