Abstract
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 under various frequencies(1∼8Hz) to find the correlation between actuator frequency and velocity of the robot. In addition, the robot velocity according to undulation motion and oscillation motion of the fin is compared to find the proper fin-motion to increase the efficiency of 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.
| Original language | English |
|---|---|
| Pages (from-to) | 272-280 |
| Number of pages | 9 |
| Journal | Proceedings of SPIE - The International Society for Optical Engineering |
| Volume | 5051 |
| DOIs | |
| Publication status | Published - 2003 |
| Event | PROCEEDINGS OF SPIE SPIE - The International Society for Optical Engineering: Smart Structures and Materials 2003 Electroactive Polymer Actuators and Devices (EAPAD) - San Diego, CA, United States Duration: 2003 Mar 3 → 2003 Mar 6 |
Keywords
- IPMC actuator
- Polymer fin
- Robot steering
- Tadpole robot
- Thrust force
- Undulation motion
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering