Biomimetic Design of a Polychaete Robot Using IPMC Actuator

This paper describes the design of a novel miniaturised robot mimicking the locomotion mechanism of polychaete worms. The robot architecture is bio-inspired and for designing purposes a modular approach has been followed. The robot consists of independent modules which move like polychaete worm segm...

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Bibliographic Details
Published in:	The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006 pp. 666 - 671
Main Authors:	Pak, N.N., Scapellato, S., La Spina, G., Pernorio, G., Menciassi, A., Dario, P.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 2006
Subjects:	Actuators Biological materials Biomimetics Clamps Composite materials Contacts Polymers Robots Software prototyping Strips
Online Access:	Get full text
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Summary:	This paper describes the design of a novel miniaturised robot mimicking the locomotion mechanism of polychaete worms. The robot architecture is bio-inspired and for designing purposes a modular approach has been followed. The robot consists of independent modules which move like polychaete worm segments, generating a transversal sinusoidal wave along the body. In order to reproduce this undulatory locomotion pattern, the specific bending movement of Ionic Polymer-Metal Composite (IPMC) material in response to electric stimuli has been considered. Each module consists of a strip of IPMC and two mechanical clamps able to establish electrical contact with the polymer and to mechanically join in series different strips. A 4-module prototype has been fabricated with an external control. By means of software interface different modules activation sequences could be implemented. Initial results and considerations are reported
ISBN:	1424400406 9781424400409
ISSN:	2155-1774 2155-1782
DOI:	10.1109/BIOROB.2006.1639166