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

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.