Gait analysis of underwater octopod microrobot

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

doi:10.1109/ROBIO.2006.340119

Gait analysis of underwater octopod 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

1 Citation (Scopus)

Abstract

The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod gait above is feasible.

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	1316-1321
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340119
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006

Publication series

Name	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Country/Territory	China
City	Kunming
Period	17/12/06 → 20/12/06

Keywords

ICPF
Octopod gait
Octopod microrobot

Access to Document

10.1109/ROBIO.2006.340119

Cite this

@inproceedings{87136b18ec1c49d6bd835b7ebaee81b4,

title = "Gait analysis of underwater octopod microrobot",

abstract = "The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod gait above is feasible.",

keywords = "ICPF, Octopod gait, Octopod microrobot",

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

year = "2006",

doi = "10.1109/ROBIO.2006.340119",

language = "English",

isbn = "1424405718",

series = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

pages = "1316--1321",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

note = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 ; Conference date: 17-12-2006 Through 20-12-2006",

}

Ye, X, Gao, B, Guo, S, Feng, W & Wang, K 2006, Gait analysis of underwater octopod microrobot. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4142056, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 1316-1321, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17/12/06. https://doi.org/10.1109/ROBIO.2006.340119

Gait analysis of underwater octopod microrobot. / Ye, Xiufen; Gao, Baofeng; Guo, Shuxiang et al.
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. 2006. p. 1316-1321 4142056 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006).

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

TY - GEN

T1 - Gait analysis of underwater octopod microrobot

AU - Ye, Xiufen

AU - Gao, Baofeng

AU - Guo, Shuxiang

AU - Feng, Weixing

AU - Wang, Kejun

PY - 2006

Y1 - 2006

N2 - The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod gait above is feasible.

AB - The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod gait above is feasible.

KW - ICPF

KW - Octopod gait

KW - Octopod microrobot

UR - http://www.scopus.com/inward/record.url?scp=46249128875&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2006.340119

DO - 10.1109/ROBIO.2006.340119

M3 - Conference contribution

AN - SCOPUS:46249128875

SN - 1424405718

SN - 9781424405718

T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

SP - 1316

EP - 1321

BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Y2 - 17 December 2006 through 20 December 2006

ER -

Gait analysis of underwater octopod microrobot

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this