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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Maoxun Li Shuxiang Guo Yamashita, K. |
| Copyright Year | 2015 |
| Description | Author affiliation: Kagawa Univ., Hayashichou, Japan (Shuxiang Guo) || Grad. Sch. of Eng., Kagawa Univ., Hayashichou, Japan (Maoxun Li; Yamashita, K.) |
| Abstract | In previous researches, a number of underwater microrobots powered by smart actuators have realized basic motions such as walking, swimming, floating and grasping motions. However, most of them are actuated by an open-loop control mode and wired control mode, which limit their mobility, because of the compact structure. In order to overcome these limitations, a father-son robot system was proposed. In this system, microrobots are carried by a high-speed father robot, which provides the power and sends the control signals to microrobots. In this paper, two kinds of ICPF (ionic conducting polymer film) actuator-based insect-inspired microrobots for mounting on the father robot are developed. The basic operations of the robots are confirmed. In confined spaces, a 9 ICPF actuator-based microrobot carrying a proximity sensor is developed to realize the operation of object recovery. Then we evaluate the performance of photodiode and carry two light sensors on the front of an 8 ICPF actuator-based microrobot to realize finding the target position and recovery of the microrobot. Using the light sensors, multi-robots can realize the tracking motion and also can get back to the father robot. |
| Starting Page | 964 |
| Ending Page | 969 |
| File Size | 1496708 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781479970971 |
| e-ISBN | 9781479970988 |
| DOI | 10.1109/ICMA.2015.7237616 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-08-02 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot sensing systems Legged locomotion Actuators Frequency control Grasping Photodiodes Tracking motion Underwater microrobot ICPF(ionic conducting polymer film) actuator Microrobot recovery |
| Content Type | Text |
| Resource Type | Article |
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