Title :
Development of a quadruped soft robot with fully IPMC body
Author :
Tomita, Naoki ; Takagi, Kentaro ; Asaka, Kinji
Abstract :
This paper discusses the development of a small quadruped walking robot fully made of IPMC (Ionic Polymer-Metal Composite) actuator. From a sheet of IPMC with the patterned electrode, we obtain a soft robot whose actuator is the body structure itself. Utilizing the patterning of the electrodes, the IPMC robot achieves multi-degrees of freedom motion compared with conventional robots with non-patterned IPMCs. The experimental result demonstrates the motion and the property of the developed quadruped robot.
Keywords :
electroactive polymer actuators; legged locomotion; motion control; IPMC actuator; IPMC body; IPMC robot; ionic polymer-metal composite; patterned electrode; quadruped soft robot; small quadruped walking robot; Actuators; Electrodes; Feedforward neural networks; Legged locomotion; Plastics; Robot sensing systems;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
