Thin Piezoelectric Mobile Robot Using Curved Tail Oscillation

Hyeonjung Lim, Seung Won Kim, Jae Bok Song, Youngsu Cha

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


In this paper, a novel piezoelectric material-based soft mobile robot is proposed. The robot consists of a thin film body and a soft polyvinylidene fluoride-based tail. The tail has a unique structure that is a combination of a polyethylene terephthalate fin and a curved piezoelectric film. We experimentally demonstrated the performance of a mobile robot. In particular, the resonance frequency was investigated to maximize tail movement. In addition, a parameter study of the tail shape was performed. Moreover, the repeatability of movements was tested. By using a curved piezoelectric tail with a fin, we built a mobile robot with a thin and flexible body. Furthermore, we fabricated multiple mobile robots by varying the robot configuration and analyzing their mobility. We found that our novel curved tail structure has good mobility performance at low body weights and multi-tailed conditions.

Original languageEnglish
Pages (from-to)145477-145485
Number of pages9
JournalIEEE Access
Publication statusPublished - 2021

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


  • Piezoelectric material
  • mobile robot
  • soft robot

ASJC Scopus subject areas

  • General Computer Science
  • General Materials Science
  • General Engineering
  • Electrical and Electronic Engineering


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