Paper Info
Title
Gait Analysis Of Underwater Octopod Microrobot
Abstract
The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod. gait above is feasible.
Year
DOI
Venue
2006
10.1109/ROBIO.2006.340119
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3
Keywords
Field
DocType
ICPF, octopod microrobot, octopod gait
Motion control,Gait,Transverse plane,Voltage,Control engineering,Bending,Gait analysis,Engineering,Underwater,Actuator
Conference
Citations 
PageRank 
References 
0
0.34
6
Authors
5
Name
Order
Citations
PageRank
Xiufen Ye14210.31
Baofeng Gao200.68
Shuxiang Guo3391106.41
Weixing Feng4114.60
Kejun Wang525220.72