TY - GEN
T1 - A novel multifunctional underwater microrobot
AU - Shi, Liwei
AU - Guo, Shuxiang
AU - Asaka, Kinji
PY - 2010
Y1 - 2010
N2 - Biomimetic microrobots with multi DOF have powerful applications in the field of underwater monitoring for applications such as pollution detection and video mapping. Most robots focus on complex structure of multi-joint legs to attain the multifunction and flexibility, while others have poor flexibility for miniaturization. To attain a microrobot with compact structure, multifunction, and flexible locomotion, we designed a novel type of biomimetic locomotion employing ionic polymer metal composite (IPMC) actuators as one-DOF legs or fingers. Then we proposed a new type of underwater microrobot using ten ionic polymer metal composite (IPMC) actuators as legs or fingers, which could realize walking, rotating, floating, and grasping motions. Also, we developed a prototype of this type of underwater microrobot and conducted experiments to evaluate its walking and floating speeds. In addition, we used six IPMC actuators as fingers to grasp some small objects and carry them to float up.
AB - Biomimetic microrobots with multi DOF have powerful applications in the field of underwater monitoring for applications such as pollution detection and video mapping. Most robots focus on complex structure of multi-joint legs to attain the multifunction and flexibility, while others have poor flexibility for miniaturization. To attain a microrobot with compact structure, multifunction, and flexible locomotion, we designed a novel type of biomimetic locomotion employing ionic polymer metal composite (IPMC) actuators as one-DOF legs or fingers. Then we proposed a new type of underwater microrobot using ten ionic polymer metal composite (IPMC) actuators as legs or fingers, which could realize walking, rotating, floating, and grasping motions. Also, we developed a prototype of this type of underwater microrobot and conducted experiments to evaluate its walking and floating speeds. In addition, we used six IPMC actuators as fingers to grasp some small objects and carry them to float up.
UR - http://www.scopus.com/inward/record.url?scp=79952932490&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723441
DO - 10.1109/ROBIO.2010.5723441
M3 - Conference contribution
AN - SCOPUS:79952932490
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 873
EP - 878
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -