A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

Satoshi Tadokoro, Masahiko Fukuhara, Yosuke Maeba, Masashi Konyo, Toshi Takamori, Keisuke Oguro

Research output: Contribution to conferencePaperpeer-review

43 Citations (Scopus)

Abstract

Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future mollukan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.

Original languageEnglish
Pages2010-2017
Number of pages8
Publication statusPublished - 2002 Dec 21
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritorySwitzerland
CityLausanne
Period02/9/3002/10/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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