A biomimetic undulatory tadpole robot using ionic polymer-metal composite actuators

Byungkyu Kim, Deok Ho Kim, Jaehoon Jung, Jong Oh Park

Research output: Contribution to journalArticlepeer-review

Abstract

The development of a wireless undulatory tadpole robot using ionic polymer-metal composite (IPMC) actuators is presented. In order to improve the thrust of the tadpole robot, a biomimetic undulatory motion of the fin tail is implemented. The overall size of the underwater microrobot prototype, shaped as a tadpole, is 96 mm in length, 24 mm in width, and 25 mm in thickness. It has one polymer fin tail driven by the cast IPMC actuator, an internal (wireless) power source, and an embedded controller. The motion of the tadpole microrobot is controlled by changing the frequency and duty ratio of the input voltage. Experimental results show that this technique can accurately control the steering and swimming speed of the proposed underwater tadpole robot.

Original languageEnglish (US)
Pages (from-to)1579-1585
Number of pages7
JournalSmart Materials and Structures
Volume14
Issue number6
DOIs
StatePublished - Dec 1 2005

ASJC Scopus subject areas

  • Signal Processing
  • Civil and Structural Engineering
  • Atomic and Molecular Physics, and Optics
  • Materials Science(all)
  • Condensed Matter Physics
  • Mechanics of Materials
  • Electrical and Electronic Engineering

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