Undulatory tadpole robot (TadRob) using ionic polymer metal composite (IPMC) actuator

Author

Jung, Jaehoon ; Kim, Byungkyu ; Tak, Younghun ; Park, Jong-Oh

Author_Institution

Korea Inst. of Sci. & Technol., Seoul, South Korea

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2133

Abstract

We have developed the wireless tadpole robot that has simple geometry, driven by low voltage and the undulatory fin-motion using IPMC(Ionic Polymer Metal Composite) actuator. Behavior of TadRob is tested and analyzed under various frequencies(1∼8 Hz) to find the correlation between actuator frequency and velocity of the robot. In addition, the robot velocity based on undulation motion and oscillation motion of the fin is compared to find the proper fin-motion in the viewpoint of. velocity efficiency for the robot. Also, steering capability is tested under variation of duty ratio. Based on experimental results, we can confirm that the velocity of TadRob can be controlled by changing frequency of input voltage and the steering angle can be increased with increasing the duty ratio.

Keywords

electric actuators; mobile robots; motion control; velocity control; actuator frequency; duty ratio; ionic polymer metal composite; ionic polymer metal composite actuator; oscillation motion; robot velocity; steering capability; undulation motion; undulatory fin motion; undulatory tadpole robot; wireless tadpole robot; Frequency; Head; Low voltage; Medical robotics; Piezoelectric actuators; Polymers; Prototypes; Service robots; Shape; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249186

Filename

1249186