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• W2116427012 abstract "Ionic polymer-metal composite (IPMC), which is one of the electro-active polymer actuators, is expected as artificial muscles for robots. An interesting property of IPMC is that it requires water to work, therefore it is suitable for underwater robots. In this paper, we developed an underwater robot which mimics rajiform swimming, that is the swimming form of a ray fish. Fins are designed using sixteen IPMCs. For autonomous operation, miniaturization of the electrical devices such as a micro controllers and small amplifiers are performed. A simple traveling wave control input is employed to generate moment on the fin. In the experiment, propulsion speed is measured under various control parameters. Furthermore, incremental wave of the fin is observed although the amplitude of the control input is spatially uniform. We also discuss this phenomenon from the point of view of interaction between elasticity of the actuator and fluid dynamics" @default.
• W2116427012 created "2016-06-24" @default.
• W2116427012 creator A5007947829 @default.
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• W2116427012 date "2006-10-01" @default.
• W2116427012 modified "2023-09-29" @default.
• W2116427012 title "Development of a Rajiform Swimming Robot using Ionic Polymer Artificial Muscles" @default.
• W2116427012 cites W114595877 @default.
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• W2116427012 doi "https://doi.org/10.1109/iros.2006.282308" @default.
• W2116427012 hasPublicationYear "2006" @default.
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