A novel underwater crablike microrobot

Xiufen Ye; Baofeng Gao; Shuxiang Guo; Weixing Feng; Kejun Wang

doi:10.1109/ICMA.2006.257526

A novel underwater crablike microrobot

Xiufen Ye^*, Baofeng Gao, Shuxiang Guo, Weixing Feng, Kejun Wang

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages	272-277
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2006.257526
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China Duration: 25 Jun 2006 → 28 Jun 2006

Publication series

Name	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Volume	2006

Conference

Conference	2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Country/Territory	China
City	Luoyang
Period	25/06/06 → 28/06/06

Keywords

Crablike underwater microrobot
ICPF actuator
Octopod gait
Single leg

Access to Document

10.1109/ICMA.2006.257526

Cite this

@inproceedings{f2df063c8da64adc92c519b0706aa4c0,

title = "A novel underwater crablike microrobot",

abstract = "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.",

keywords = "Crablike underwater microrobot, ICPF actuator, Octopod gait, Single leg",

author = "Xiufen Ye and Baofeng Gao and Shuxiang Guo and Weixing Feng and Kejun Wang",

year = "2006",

doi = "10.1109/ICMA.2006.257526",

language = "English",

isbn = "1424404665",

series = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",

pages = "272--277",

booktitle = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006",

note = "2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 ; Conference date: 25-06-2006 Through 28-06-2006",

}

Ye, X, Gao, B, Guo, S, Feng, W & Wang, K 2006, A novel underwater crablike microrobot. in 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006., 4026093, 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, vol. 2006, pp. 272-277, 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006, Luoyang, China, 25/06/06. https://doi.org/10.1109/ICMA.2006.257526

A novel underwater crablike microrobot. / Ye, Xiufen; Gao, Baofeng; Guo, Shuxiang et al.
2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006. 2006. p. 272-277 4026093 (2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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SP - 272

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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 -

A novel underwater crablike microrobot

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Keywords

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