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

被引：0
|
作者：
Jung, J [1 ]
Kim, B [1 ]
Tak, Y [1 ]
Park, JO [1 ]
机构：
[1] Korea Inst Sci & Technol, Seoul 130650, South Korea
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
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D O I：
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中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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(1similar to8Hz) 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.
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页码：2133 / 2138
页数：6
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