Electrostatic Actuator for Moving Cell in Distributed Microrobotic System

Hidenori Ishihara, Toshio Fukuda, Kazuhiro Kosuge, Fumihito Arai, Hideo Matsuura

Research output: Contribution to journalArticlepeer-review


This paper proposes the concepts of the distributed micro robotic system (DMRS) and the micro cellular robotic system, which is named the μ-CEBOT. DMRS is a dynamically reconfigurable robotic system (DRRS) and will be used for task execution in a space with a small entrance which is too narrow for the entire robotic system to enter. The μ-CEBOT is one of the realization methods of the DMRS. A stacked-type electrostatic actuator (STESA) is developed for a prototype of a moving cell of the //-CEBOT. Experiments are conducted to evaluate the performance of the STESA. The results of the control simulation demonstrate the possibility of controlling the STESA.

Original languageEnglish
Pages (from-to)748-754
Number of pages7
JournalJSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing
Issue number4
Publication statusPublished - 1994 Feb 1
Externally publishedYes


  • Cellular Robotic System
  • Coupled Vibration
  • Dynamically Reconfigurable Robotic System
  • Electrostatic Actuator
  • Micromachining Technology
  • Model Analysis
  • Nonlinear Vibration
  • Photo Fabrication
  • Robotics
  • Self-Organizing System

ASJC Scopus subject areas

  • Engineering(all)


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