IPMC actuator-based an underwater microrobot with 8 legs

Biomimetic microrobot and micro biped robot with multi DOF that can swim smoothly in water or aqueous medium has urgently been demanded in the medical field and industry application. The IPMC (Ionic Polymer Metal Composite) has a good response and soft characteristic. Also it can generate large bending motions under a low driving voltage (about 1 V). In order to resolve the problems of asymmetry in former microrobot, we have developed a new underwater microrobot with 8 IPMC actuators as legs. In addition, we have proposed a concept of biomimetic microrobot consisted of a body and a base. The base has 8 legs, which can walk forward and back. Also it can rotate to change its walking direction. The body is made of rubber material shaped as a hemisphere. SMA actuators are used in the body. It has a movement process as the jellyfish does when it is floating and sinking. The process of floating and sinking can be controlled. Characteristic of the base and the body is measured respectively. The simulation of walking and rotating process of the base is also done in the following. Some improvement has been done for higher efficiency.