Integrated design of an ionic polymer-metal composite actuator/sensor

被引：6

作者：

Yamakita, Masaki ^{[1
]}

Sera, Akio ^{[1
]}

Kamamichi, Norihiro ^{[2
,3
]}

Asaka, Kinji ^{[4
]}

机构：

[1] Tokyo Inst Technol, Dept Mech Control & Syst Engn, Megro Ku, Tokyo 1528552, Japan

[2] RIKEN, Inst Phys & Chem Res, Biomimet Control Res Ctr, Moriyama Ku, Nagoya, Aichi 4630003, Japan

[3] Tokyo Denki Univ, Sch Sci & Technol Future Life, Dept Robot & Mechatron, Tiyoda Ku, Tokyo 1018457, Japan

[4] Natl Inst Adv Ind Sci & Technol, Res Inst Cell Engn, Osaka 5638577, Japan

来源：

ADVANCED ROBOTICS | 2008年 / 22卷 / 09期

关键词：

soft actuator; ionic polymer metal composite; doping effect; H-infinity control; observer;

D O I：

10.1163/156855308X315091

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We are studying the robotic application of ionic polymer-metal composite (IPMC). The characteristics of IPMC greatly depend on the type of counterions, and it is considered that the performance of the actuators can he improved by combining the actuators with several types of counterions and applying an integrated control. IPMC also has a sensor function, as the IPMC film generates an electromotive force when it is deformed. It has the possibility to be integrated into an IPMC actuator with soft actuation. In this paper, we consider an integrated design of an IPMC actuator/sensor, and investigate control of the combined IPMC actuators using H., control and the construction of an IPMC sensor system. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.

引用

页码：913 / 928

页数：16

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