A snake-like swimming robot using IPMC actuator/sensor

Kamamichi, Norihiro; Yamakita, Masaki; Asaka, Kinji; Zhang, Luo

doi:10.1109/robot.2006.1641969

Cited by 101 publications

(69 citation statements)

References 9 publications

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“…Later, Guo et al also developed another underwater vehicle by the ionic polymer metal composite (IPMC) [9]. The IPMC is usually durable, stable and has a fast response [10]. When the input voltage is applied to the IPMC membrane, the membrane bends because of ion motions associated with water molecules that are caused by the electric field.…”

Section: Propulsion In Millimeter Scalementioning

confidence: 99%

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Mini and Micro Propulsion for Medical Swimmers

Feng

Cho

2014

Micromachines

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Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applicability to the medical or biological fields, including delivery and transportation of bio-materials and drugs, bio-sensing, and bio-surgery. This paper reviews the recent ideas and developments of these types of self-propelling devices, ranging from the millimeter scale down to the micro and even the nano scale. Specifically, this review article makes an emphasis on various propulsion principles, including methods of utilizing smart actuators, external magnetic/electric/acoustic fields, bacteria, chemical reactions, etc. In addition, we compare the propelling speed range, directional control schemes, and advantages of the above principles.

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Section: Propulsion In Millimeter Scalementioning

confidence: 99%

“…This IPMC fish had a similar size with the previous ICPF fish, and its swimming speed was 7 mm/s (Re ~10 2 ). The IPMC films were also used to connect styrene foams to make a snake-like robot [10] and a wireless undulatory tadpole robot [11].…”

Section: Propulsion In Millimeter Scalementioning

confidence: 99%

Mini and Micro Propulsion for Medical Swimmers

Feng

Cho

2014

Micromachines

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“…The sensor mode has been studied in, e.g., [12][13][14][15][16][17][18][19][20]. The experimental IPMC was implemented as a control system with four distributed inputs and four distributed outputs.…”

Section: Construction Of Sectioned Ipmc and Experimental Systemmentioning

confidence: 99%

Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls

et al. 2012

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This paper presents an integrated sensor/actuator device with multi-input and multi-output designed on the basis of a standard control representation called a distributed port-Hamiltonian system. The device is made from soft material called an ionic polymer-metal composite (IPMC). The IPMC consists of a base film of a polyelectrolyte gel and a double layer of plated metal electrodes. The electrodes of the experimental IPMC are sectioned, and it is implemented as a control system with four pairs of inputs/outputs. We stabilize the system, and detect changes in dynamics by using the control representation.

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“…En la literatura se puede encontrar un amplio número de robots inspirados en morfología animal como: serpientes [11][12][13][14], peces [15], langostas [16], hexápodos [17], entre otros. Algunos robots, presentados en [18] y [19], no tienen estructuras bioinspiradas, no obstante, se pueden desplazar en ambientes acuáti-cos y terrestres.…”

Section: Introductionunclassified

Robot Salamandra Anfibio Con Locomoción Bioinspirada

Aguilar

Luna

Moya

et al. 2016

ings

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Recibido: 01-11-2016, aprobado tras revisión: 20-12-2016 Forma sugerida de citación: Luna, M.; Moya, J.; Aguilar, W.; Abad, V. (2017). «Robot salamandra anfibio con locomoción bioinspirada». Ingenius. N.• 17, (Enero-Junio). pp. 51-59. ISSN: 1390-650X. Resumen AbstractEn este artículo se presenta el desarrollo de un robot anfibio con una dinámica de movimiento bioinspirada en la locomoción de la salamandra (Cryptobranchidae). El robot es teleoperado mediante una aplicación para dispositivos móviles (Smartphones, tablets, etc.). Se propone una estructura que permita al robot llevar a cabo dos acciones: caminar y nadar. Los movimientos de una salamandra real se han estimado basándose en una cámara cenital y se ha diseñado un algoritmo de control de locomoción que replique esos movimientos. El desempeño del robot se ha evaluado utilizando como métrica el error cuadrático medio entre el movimiento del robot y de la salamandra obteniendo errores menores al 5 % en los ángulos de movimiento de la espina dorsal.This paper presents the development of an amphibious robot with a motion dynamics bioinspired on the locomotion of the salamander (Cryptobranchidae). The robot is teleoperated by an application for handled devices. We propose a structure to perform two different motions: walk and swim. We extract the movements from a real salamander by a zenith camera, and a locomotion control algorithm is designed to reply this movements. We evaluate the performance of the robot in comparison with the real animal movements using the RMSE (Root Mean Square Error) as metric of evaluation. We obtain errors less than 5 % in the angles of backbone movement.

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A snake-like swimming robot using IPMC actuator/sensor

Cited by 101 publications

References 9 publications

Mini and Micro Propulsion for Medical Swimmers

Mini and Micro Propulsion for Medical Swimmers

Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls

Robot Salamandra Anfibio Con Locomoción Bioinspirada

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