DocumentCode :
504409
Title :
Property evaluation and motion control of a biomimetic actuator using electroconductive polymer
Author :
Sugiyama, Kimikazu ; Ishii, Kazuo ; Kaneto, Keiichi
Author_Institution :
Hitachi High-Technol., Hitachi, Japan
fYear :
2009
fDate :
18-21 Aug. 2009
Firstpage :
3890
Lastpage :
3895
Abstract :
We have been working on an oscillating fin type actuator for underwater robots. Our research aims at the development of a fin type actuator imitating mechanisms of underwater creatures by using an electoroconductive polymer, which is a kind of artificial muscles. We expect that this actuator takes the place of a screw propeller in the missions which need precise and silent motion control such as observation of underwater creatures. In this paper, we describe artificial muscles using bimorph type electoroconductive polymer and examined the basic property of the developed actuator. Based on the property, we propose a motion control method of initial and bending angle of the artificial muscle. The artificial muscle is controlled to keep arbitrary bending angle and an actuator like fish fin is developed.
Keywords :
artificial organs; biomimetics; conducting polymers; mobile robots; motion control; muscle; oscillations; propellers; underwater vehicles; artificial muscle; bimorph; biomimetic actuator; electroconductive polymer; fish fin; motion control; oscillating fin type actuator; property evaluation; screw propeller; underwater creature; underwater robot; Actuators; Biomimetics; Fasteners; Marine animals; Motion control; Muscles; Oceans; Polymers; Propellers; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
Type :
conf
Filename :
5333301
Link To Document :
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