TY - GEN
T1 - A novel underwater crablike microrobot
AU - Ye, Xiufen
AU - Gao, Baofeng
AU - Guo, Shuxiang
AU - Feng, Weixing
AU - Wang, Kejun
PY - 2006
Y1 - 2006
N2 - In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (Ionic Conducting Polymer Film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg's movement under different control signals are proposed. The structure and motion mechanism are given. The kinematics of single leg is discussed. And then, we set up the experimental platform to analyze the characteristics of the ICPF Actuator. At last, the rightwards movement and circumvolve anticlockwise of the microrobot's gait are carried out.
AB - In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (Ionic Conducting Polymer Film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg's movement under different control signals are proposed. The structure and motion mechanism are given. The kinematics of single leg is discussed. And then, we set up the experimental platform to analyze the characteristics of the ICPF Actuator. At last, the rightwards movement and circumvolve anticlockwise of the microrobot's gait are carried out.
KW - Crablike underwater microrobot
KW - ICPF actuator
KW - Octopod gait
KW - Single leg
UR - http://www.scopus.com/inward/record.url?scp=34247227134&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2006.257526
DO - 10.1109/ICMA.2006.257526
M3 - Conference contribution
AN - SCOPUS:34247227134
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 272
EP - 277
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -