Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545485