Property evaluation and motion control of a biomimetic actuator using electroconductive polymer

We have been working on an oscillating fin type actuator for underwater robots. Our research aims at the development of a fin type actuator imitating mechanisms of underwater creatures by using an electoroconductive polymer, which is a kind of artificial muscles. We expect that this actuator takes the place of a screw propeller in the missions which need precise and silent motion control such as observation of underwater creatures. In this paper, we describe artificial muscles using bimorph type electoroconductive polymer and examined the basic property of the developed actuator. Based on the property, we propose a motion control method of initial and bending angle of the artificial muscle. The artificial muscle is controlled to keep arbitrary bending angle and an actuator like fish fin is developed.