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2014 | OriginalPaper | Buchkapitel

28. Underwater Soft Robots

verfasst von : Kentaro Takagi, Zhi-Wei Luo, Kinji Asaka

Erschienen in: Soft Actuators

Verlag: Springer Japan

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Abstract

Two underwater soft robots using ionic polymer-metal composites (IPMCs), a ray-like robot and a quadruped robot, are introduced. For autonomous operation of the ray-like robot, miniaturized electrical devices are developed. A simple traveling wave input is employed to generate the motion of the fin. The propulsion speed of the robot is able to be controlled by the parameters of the traveling wave. In the experiment we observed that the amplitude of the fin increased toward the backward in spite of the uniform control input. This phenomenon may be the key to achieve the energy-efficient swimming of underwater robots by utilizing the elasticity of the actuator. The underwater quadruped robot is developed from a sheet of IPMC of which electrode is segmented into some parts to be controlled independently. We demonstrate the electro-discharge machining (EDM) method is useful to segment the electrode with the minimum damage to the polymer. In the experiment we found by accident that the deformation of the IPMC became gradually large by ion exchange with the copper electrode contact. Finally we show the gait of turtle is effective to control the developed quadruped robot.

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Titel: Underwater Soft Robots
verfasst von: Kentaro Takagi
Zhi-Wei Luo
Kinji Asaka
Verlag: Springer Japan
Buch: Soft Actuators
Print ISBN: 978-4-431-54766-2

Electronic ISBN: 978-4-431-54767-9

Copyright-Jahr: 2014
DOI: https://doi.org/10.1007/978-4-431-54767-9_28

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