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Development of underwater microrobot with biomimetic locomotion
- Article from:
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Applied Bionics and Biomechanics
- Article date:
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January 1, 2006
- Author:
- Zhang, W; Guo, S; Asaka, K
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Copyright informationCopyright Woodhead Publishing Limited 2006. Provided by ProQuest LLC. (Hide copyright information)
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Abstract: Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with ...