Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

Baofeng Gao*, Shuxiang Guo, Xiufen Ye

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

76 Citations (Scopus)

Abstract

This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm optimisation algorithm. We implemented and demonstrated wireless control over the trajectory of individual microrobot, and extended this to three units in an expect formation.

Original languageEnglish
Pages (from-to)79-89
Number of pages11
JournalInternational Journal of Mechatronics and Automation
Volume1
Issue number2
DOIs
Publication statusPublished - 2011
Externally publishedYes

Keywords

  • AVR
  • ionic conducting polymer films (ICPF) actuator
  • optimisation
  • particle swarm optimisation
  • path planning
  • underwater biomimetic microrobot

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Gao, B., Guo, S., & Ye, X. (2011). Motion-control analysis of ICPF-actuated underwater biomimetic microrobots. International Journal of Mechatronics and Automation, 1(2), 79-89. https://doi.org/10.1504/IJMA.2011.040038