Insect-inspired biomimetic underwater microrobots for a father-son robot system

In previous researches, a number of underwater microrobots powered by smart actuators have realized basic motions such as walking, swimming, floating and grasping motions. However, most of them are actuated by an open-loop control mode and wired control mode, which limit their mobility, because of the compact structure. In order to overcome these limitations, a father-son robot system was proposed. In this system, microrobots are carried by a high-speed father robot, which provides the power and sends the control signals to microrobots. In this paper, two kinds of ICPF (ionic conducting polymer film) actuator-based insect-inspired microrobots for mounting on the father robot are developed. The basic operations of the robots are confirmed. In confined spaces, a 9 ICPF actuator-based microrobot carrying a proximity sensor is developed to realize the operation of object recovery. Then we evaluate the performance of photodiode and carry two light sensors on the front of an 8 ICPF actuator-based microrobot to realize finding the target position and recovery of the microrobot. Using the light sensors, multi-robots can realize the tracking motion and also can get back to the father robot.