Abstract
In order to develop a new type of fish-like microrobot with swimming, walking, and floating motions, in our past research, we developed a hybrid microrobot actuated by ionic conducting polymer film (ICPF) actuators. But the microrobot had some problems in walking and floating motions. In this paper, we propose a concept of hybrid microrobot (see Fig. 1). The microrobot is actuated by a pair of caudal fins, a base with legs and an array of artificial swim bladders. We have developed a prototype of the base with legs and one artificial swim bladder, respectively, and carried out experiments for evaluating their characteristics. Experimental results show the base with legs can realize walking speed of 6 mm/s and rotating speed of 7.1 degrees/s respectively, and the prototype of the artificial swim bladder has a maximum floatage of 2.6 mN. The experimental results also indicate that the microrobot has some advantages, such as walking motion with 2 degrees of freedom, the walking ability on rough surface (sand paper), the controllable floatage, etc. This kind of fish-like microrobot is expected for industrial and medical applications.
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Wei Zhang received his B.Sc. and M.Sc degrees from University of Electronic Science and Technology of China (UESTC), China, in 2001 and 2004, respectively. Currently, he is a Ph.D. candidate in Kagawa University, Japan. He researches on underwater microrobot utilizing artificial muscles, such as Ionic Conducting Polymer Film (ICPF) actuators for industry and bio-medical applications.
He has published over 10 refereed journal and conference papers in recent two years. His interest includes legged microrobots.
Mr. Zhang is an IEEE student member.
Shu-Xiang Guo received his B.Sc. and the M.Sc. degrees in mechanical engineering from the Changchun Institute of Optics and Fine Mechanics, Changchun, China, in 1983 and in 1986, respectively, and the Ph.D. degree in mechano-informatics and systems from Nagoya University, Nagoya, Japan, in 1995. In 1995, he was a faculty member at Mie University, Mie, Japan and in 1998 at Kagawa University, Kagawa, Japan. Currently, he is a professor with the Department of Intelligent Mechanical System Engineering at Kagawa University.
He has published about 140 refereed journal and conference papers. His current research interests include micro robotics and mechatronics, micro robotics system for minimal invasive surgery, micro catheter system, micro pump, and smart material (SMA, ICPF) based on actuators.
Dr. Guo received research awards from the Tokai Section of the Japan Society of Mechanical Engineers (JSME), the Tokai Science and Technology Foundation, and the Best Paper Award of the IS International Conference, Best Paper Award of the 2003 International Conference on Control Science and Technology and Best Conference Paper Award of IEEE ROBIO2004, in 1997, 1998, 2000, 2003 and 2004, respectively.
Kinji Asaka received his Ph.D. degree in science from Kyoto University in 1991. He is currently a group leader of the Artificial Cell Research Group, Research Institute for Cell Engineering of National Institute of Advanced Industrial Science and Technology (AIST).
His current research interests include interfacial electrochemistry and polymer actuators.
Dr. Asaka is a member of the Society of Polymer Science, Japan and the Society of Instrument and Control and Engineers.
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Zhang, W., Guo, SX. & Asaka, K. A new type of hybrid fish-like microrobot. Int J Automat Comput 3, 358–365 (2006). https://doi.org/10.1007/s11633-006-0358-4
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DOI: https://doi.org/10.1007/s11633-006-0358-4