Three-phase control for miniaturization of a snake-like swimming robot

被引：5

作者：

Rossiter, Jonathan ^{[1
,3
]}

Stoimenov, Boyko ^{[3
]}

Nakabo, Yoshihiro ^{[2
]}

Mukai, Toshiharu ^{[3
]}

机构：

[1] Univ Bristol, Dept Engn Math, Bristol BS8 1TR, Avon, England

[2] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Inst, Safety Intelligence Res Grp, Tsukuba, Ibaraki 3058568, Japan

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

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年

关键词：

IPMC; anguilliform; snake-like; swimming robot; three-phase;

D O I：

10.1109/ROBIO.2006.340101

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present the design and control of a soft undulating snake-like swimming robot that can be miniaturized down to the millimeter scale. We consider the miniaturization of an ionic polymer metal composite (IPMC) robot with respect to Reynolds number and propose biologically inspired undulating motion as a suitable swimming mechanism that can scaled down in excess of three orders of magnitude. We examine the control system needed to generate this undulating motion and take inspiration from poly-phase electrical power delivery systems to greatly simplify the control system, while maintaining the ability to move forwards and backwards and to turn. As a result of the simplified three-phase control we can further simplify the structure of the robot and make miniaturization more practical.

引用

页码：1215 / +

页数：2

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