Kinematic trajectory analysis of an ICPF actuated octopod underwater microrobot

In this paper, we summarizes the development of walking microrobots driven by the novel actuators. Then we set up the experimental platform to test the material characteristic of ICPF, and measure the impact of different driving voltage and frequency of square wave pulse on the movement of ICPF actuator. This paper suggests the main methods for setting up and solving the endpoint kinematic trajectory equation of single leg which is made up of two pieces of ICPF actuator, and then advances several representative control signal of the leg. From the use of MATLAB, it depicts and analyzes the endpoint kinematic trajectory of the leg under the representative control signal. The influence of voltage and phase difference to the endpoint kinematic trajectory of leg is further studied. The experimental results indicate that the microrobot can do transverse movement possibly and effectively by using proposed control method.