By Topic

Biomimetic Design of a Polychaete Robot Using IPMC Actuator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

6 Author(s)

This paper describes the design of a novel miniaturised robot mimicking the locomotion mechanism of polychaete worms. The robot architecture is bio-inspired and for designing purposes a modular approach has been followed. The robot consists of independent modules which move like polychaete worm segments, generating a transversal sinusoidal wave along the body. In order to reproduce this undulatory locomotion pattern, the specific bending movement of Ionic Polymer-Metal Composite (IPMC) material in response to electric stimuli has been considered. Each module consists of a strip of IPMC and two mechanical clamps able to establish electrical contact with the polymer and to mechanically join in series different strips. A 4-module prototype has been fabricated with an external control. By means of software interface different modules activation sequences could be implemented. Initial results and considerations are reported

Published in:

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Date of Conference:

20-22 Feb. 2006