Name
Abstract | ||
|---|---|---|
In this paper, to deal with the locomotion in underwater environment, we designed a novel type of leg, inspired by stick insect legs. The biomimetic leg is composed of two segments of ICPF (ionic conducting polymer film) actuators with a 2-DOF motion. It has simple structure, simple control method, and good localization characteristic. We designed and developed a prototype microrobot with 3 units of the legs. The dimension of the microrobot is 48*20*17 mm3 and its dried weight is 0.65 g. We have measured the speeds with different control signals. The experimental results show that it can arrive at a speed of 4.7 mm/s with a control signal of 5 Hz and 10 V. And results indicate that the novel type leg has a good speed performance and localization in aquatic environment. The microrobot using ICPF actuators has powerful applications in the biomedical and naval fields |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.281682 | IROS |
Keywords | Field | DocType |
stick insect legs,aquatic environment,legged locomotion,tripodic biomimetic underwater microrobot locomotion,2-dof motion,actuators,biomimetic leg,5 hz,10 v,microrobots,ionic conducting polymer film actuators,icpf actuators,icpf actuator,underwater microrobot,underwater vehicles,biomimetics,ionic conductivity | Computer science,Biomimetics,Control engineering,Underwater,Actuator | Conference |
ISBN | Citations | PageRank |
1-4244-0259-X | 3 | 0.66 |
References | Authors | |
9 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wei Zhang | 1 | 14 | 2.79 |
| Shuxiang Guo | 2 | 391 | 106.41 |
| Kinji Asaka | 3 | 99 | 22.94 |