8.7 Conclusions
We have discussed the development of a linear actuator using IPMC materials and its applications to a walking robot and a snakelike robot. In this monograph, the doping effects on motion were focused on especially, and it was shown by numerical simulations of walking control and by an experiment of a swimming control of the snakelike robot that the properties of the actuator can be adjusted according to particular motions, i.e., slow speed motion with low energy consumption or high speed motion with high energy consumption. Also, a possibility that some actuators distributed in a system can be partially doped with a desired ion by moving the actuators mechanically was shown by a preliminary experiment. The authors consider that the developed IPMC linear actuator can be used for biomimetic control systems where the properties of the system can be adapted to an environment using doping effects.
To apply the artificial muscle actuator to a general robotic system, there exist a lot of problems such as limitation of output force; however, we think the mutual evolution of improvement of actuator technology and design of control system is important for further applications.
Access provided by Autonomous University of Puebla. Download to read the full chapter text
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
8.9 References
Y. Bar-Cohen, Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, SPIE Press, 2001.
K. Oguro, Y. Kawami and H. Takenaka, “Bending of an ion-conducting polymer film-electrode composite by an electric stimulus at low voltage,” Journal of Micromachine Society, 5, 27–30, 1992. (in Japanese)
S. Guo, T. Fukuda, K. Kosuge, F. Arai, K. Oguro and M. Negoro, “Micro catheter system with active guide wire,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp.79–84, 1995.
EAMEX Corporation, http://www.eamex.co.jp/
M. Mojarrad and M. Shahinpoor, “Biomimetic robotic propulsion using polymeric artificial muscles,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2152–2157, 1997.
S. Guo, T. Fukuda and K. Asaka, “A new type of fish-like underwater microrobot,” IEEE/ASME Trans. on Mechatronics, Vol. 8, No. 1, pp.136–141, 2003.
J. Jung, B. Kim, Y. Tak and J. O. Park, “Undulatory tadpole robot (TadRob) using ionic polymer metal composite (IPMC) actuator,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2133–2138, 2003.
J. W. Paquette, K. J. Kim and W. Yim, “Aquatic robotic propulsor using ionic polymer-metal composite artificial muscle,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1269–1274, 2004.
A. Punning M. Anton, M. Kruusmaa and A. Aabloo, “A biologically inspired ray-like underwater robot with electroactive polymer pectoral fins,” Proc. of IEEE/ Int. Conf. on Mechatronics and Robotics, Vol. 2, pp.241–245, 2004.
Y. Nakabo, T. Mukai, K. Ogawa, N. Ohnishi and K. Asaka, “Biomimetic soft robot using artificial muscle,” in tutorial “Electro-Active Polymer for Use in Robotics”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2004.
Y. Bar-Cohen, S. Leary, A. Yavrouian, K. Oguro, S. Tadokoro, J. Harrison, J. Smith and J. Su, “Challenges to the application of IPMC as actuators of planetary mechanisms,” Proc. of SPIE Int. Symp. on Smart Structures and Materials, EAPAD, Vol. 3987, 2000.
S. Guo, S. Hata, K. Sugumoto, T. Fukuda and K. Oguro, “Development of a new type of capsule micropump,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2171–2176, 1999.
S. Tadokoro, S. Yamagami, M. Ozawa, T. Kimura and T. Takamori, “Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2177–2182, 1999.
S. Tadokoro, S. Fuji, M. Fushimi, R. Kanno, T. Kimura and T. Takamori, “Development of a distributed actuation device consisting of soft gel actuator elements,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2155–2160, 1998.
M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka and Z. W. Luo, “Development of an artificial muscle linear actuator using ionic polymer-metal composites,” Advanced Robotics, Vol. 18, No. 4, pp.383–399, 2004.
K. Onishi, S. Sewa, K. Asaka, N. Fujiwara and K. Oguro, “The effects of counter ions on characterization and performance of a solid polymer electrolyte actuator,” Electrochemica Acta, Vol. 46, No. 8, pp.1233–1241, 2001.
Y. Kaneda, N. Kamamichi, M. Yamakita, K. Asaka and Z. W. Luo, “Development of linear artificial muscle actuator using ionic polymer-introduce nonlinear characteristics to attain a higher steady gain-,” Proc. of the Annual Conf. of RSJ, 2003. (in Japanese)
S. Tadokoro and T. Takamori, “Modeling IPMC for design of actuation mechanisms,” Electroactive Polymer (EAP) Actuators as Artificial Muscles, Reality, Potential, and Challenges, Ed. Y. Bar-Cohen, SPIE Press, pp.331–366, 2001.
K. Asaka and K. Oguro, “Bending of polyelectrolyte membrane platinum composites by electric stimuli Part II. Response kinetics,” Journal of Electroanalytical Chemistry, 480, pp.186–198, 2000.
S. Tadokoro, S. Yamagami and T. Takamori, “An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1340–1346, 2000.
S. Tadokoro, M. Fukuhara, Y. Maeba, M. Konyo, T. Takamori and K. Oguro, “A dynamical model of ICPF actuator considering ion-induced lateral strain for molluskan robotics,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2010–2017, 2002.
K. Mallavarapu, K. Newbury and D. J. Leo, “Feedback control of the bending response of ionic polymer-metal composite actuators,” Proc. of SPIE Int. Symp. on Smart Structures and Materials, EAPAD, Vol. 4329, pp.301–310, 2001.
T. McGeer, “Passive dynamic walking,” The Int. Journal of Robotics Research, Vol. 9, No. 2, pp.62–82, 1990.
M. Yamakita, N. Kamamichi, T. Kozuki, K. Asaka and Z. W. Luo, “Control of biped walking robot with IPMC linear actuator,” Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2005.
M. Yamakita, N. Kamamichi, Y. Kaneda, K. Asaka and Z. W. Luo, “IPMC linear actuator with re-doping capability and its application to biped walking robot,” Proc. of 3rd IFAC Symposium on Mechatronic Systems, pp.359–364, 2004.
M. Yamakita, N. Kamamichi, T. Kozuki, K. Asaka and Z. W. Luo, “A snake-like swimming robot using IPMC actuator and verification of doping effect,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2005.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag London Limited
About this chapter
Cite this chapter
Yamakita, M., Kamamichi, N., Luo, Z.W., Asaka, K. (2007). Robotic Application of IPMC Actuators with Redoping Capability. In: Kim, K.J., Tadokoro, S. (eds) Electroactive Polymers for Robotic Applications. Springer, London. https://doi.org/10.1007/978-1-84628-372-7_8
Download citation
DOI: https://doi.org/10.1007/978-1-84628-372-7_8
Publisher Name: Springer, London
Print ISBN: 978-1-84628-371-0
Online ISBN: 978-1-84628-372-7
eBook Packages: EngineeringEngineering (R0)