A Novel Underwater Crablike Microrobot

In this paper, we presents a novel crablike underwater microrobot named crabliker-1. The designed microrobot has eight legs, and each leg is made up of two pieces of ICPF (ionic conducting polymer film). A new analysis method to the gait of the microrobot is proposed. Based on this method, three processes of single leg's movement under different control signals are proposed. The structure and motion mechanism are given. The kinematics of single leg is discussed. And then, we set up the experimental platform to analyze the characteristics of the ICPF actuator. At last, the rightwards movement and circumvolve anticlockwise of the microrobot's gait are carried out