A snake-like swimming robot using IPMC actuator/sensor

We constructed a snake-like swimming robot using IPMC actuator, and verified swimming motion based on numerical simulation and experiments. In applying periodic inputs with appropriate frequency and phase shift, the snake-like robot is capable of smooth propulsion. It is known that IPMC has a sensor function that IPMC films generate electromotive voltage when bending or being deformed. By using the sensor function into the snake-like robot, it is considered that autonomous propulsive motion can be realized by feedback of the sensor signal. In this paper, we consider the autonomous locomotion of the snakelike swimming robot with IPMC actuator/sensor, and verify the realization of swimming motion by feedback of the sensor signal. Furthermore, the efficiency of the autonomous locomotion is investigated