NDLI: Development of a Rajiform Swimming Robot using Ionic Polymer Artificial Muscles

Content Provider	IEEE Xplore Digital Library
Author	Takagi, K. Yamamura, M. Zhi-Wei Luo Onishi, M. Hirano, S. Asaka, K. Hayakawa, Y.
Copyright Year	2006
Description	Author affiliation: Bio-Mimetic Control Res. Center, RIKEN, Nagoya (Takagi, K.)
Abstract	Ionic polymer-metal composite (IPMC), which is one of the electro-active polymer actuators, is expected as artificial muscles for robots. An interesting property of IPMC is that it requires water to work, therefore it is suitable for underwater robots. In this paper, we developed an underwater robot which mimics rajiform swimming, that is the swimming form of a ray fish. Fins are designed using sixteen IPMCs. For autonomous operation, miniaturization of the electrical devices such as a micro controllers and small amplifiers are performed. A simple traveling wave control input is employed to generate moment on the fin. In the experiment, propulsion speed is measured under various control parameters. Furthermore, incremental wave of the fin is observed although the amplitude of the control input is spatially uniform. We also discuss this phenomenon from the point of view of interaction between elasticity of the actuator and fluid dynamics
Starting Page	1861
Ending Page	1866
File Size	622513
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282308
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Polymers Muscles Actuators Water Marine animals Operational amplifiers Propulsion Velocity measurement Elasticity
Content Type	Text
Resource Type	Article

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