A snake-like swimming robot using IPMC actuator/sensor

被引：89

作者：

Kamamichi, Norihiro ^{[1
]}

Yamakita, Masaki ^{[1
,2
]}

Asaka, Kinji ^{[3
]}

Luo, Zhi-Wei ^{[2
]}

机构：

[1] Tokyo Inst Technol, Dept Mech & Control Engn, Meguro Ku, 2-12-1 Oh Okayama, Tokyo 152, Japan

[2] Bio Mimet Control Res Ctr, Inst Phys & Chem Res RIKEN, Nagoya, Aichi 2271130, Japan

[3] Natl Inst Adv Ind Sci & Technol, Res Inst Cell Engn, Osaka, Japan

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

D O I：

10.1109/ROBOT.2006.1641969

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We constructed a snake-like swimming robot using IPMC actuator, and verified swimming motion based on numerical simulation and experiments. In applying periodic inputs with appropriate frequency and phase shift, the snake-like robot is capable of smooth propulsion. It is known that IPMC has a sensor function that IPMC films generate electromotive voltage when bending or being deformed. By using the sensor function into the snake-like robot, it is considered that autonomous propulsive motion can be realized by feedback of the sensor signal. In this paper, we consider the autonomous locomotion of the snakelike swimming robot with IPMC actuator/sensor, and verify the realization of swimming motion by feedback of the sensor signal. Furthermore, the efficiency of the autonomous locomotion is investigated.

引用

页码：1812 / 1817

页数：6

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