Gait analysis of underwater octopod microrobot

被引：0
|
作者：
Ye, Xiufen [1 ]
Gao, Baofeng [1 ]
Guo, ShuXiang [1 ,2 ]
Feng, Weixing [1 ]
Wang, Kejun [1 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang Pr, Peoples R China
[2] Kagawa Univ, Fac Engn, Takamatsu, Kagawa 760, Japan
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词：
ICPF; octopod microrobot; octopod gait;
D O I：
10.1109/ROBIO.2006.340119
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The low actuating voltage and quick bending responses of ICPF (Ionic Conducting Polymer Film) are considered very useful and attractive for the construction of various types of actuators and sensors. In this paper, first we present an octopod underwater microrobot which has eight legs, and each leg is made up of two pieces of ICPF. Then we use theory analysis to illustrate the motion mechanism of the microrobot, and study the octopod gait of the microrobot to perform transverse and rotation movement when the legs of crab collaborate. Finally, the experimental results indicate that the octopod. gait above is feasible.
引用
收藏
页码：1316 / +
页数：2
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