A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

Satoshi Tadokoro; Masahiko Fukuhara; Yosuke Maeba; Masashi Konyo; Toshi Takamori; Keisuke Oguro

A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

Satoshi Tadokoro, Masahiko Fukuhara, Yosuke Maeba, Masashi Konyo, Toshi Takamori, Keisuke Oguro

Research output: Contribution to conference › Paper › peer-review

Abstract

Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future mollukan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.

Original language	English
Pages	2010-2017
Number of pages	8
Publication status	Published - 2002 Dec 21
Externally published	Yes
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 2002 Sept 30 → 2002 Oct 4

Other

Other	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	02/9/30 → 02/10/4

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

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title = "A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics",

abstract = "Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future mollukan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.",

author = "Satoshi Tadokoro and Masahiko Fukuhara and Yosuke Maeba and Masashi Konyo and Toshi Takamori and Keisuke Oguro",

year = "2002",

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language = "English",

pages = "2010--2017",

note = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 30-09-2002 Through 04-10-2002",

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T1 - A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

AU - Tadokoro, Satoshi

AU - Fukuhara, Masahiko

AU - Maeba, Yosuke

AU - Konyo, Masashi

AU - Takamori, Toshi

AU - Oguro, Keisuke

PY - 2002/12/21

Y1 - 2002/12/21

N2 - Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future mollukan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.

AB - Molluskan robots perform their tasks by freely deforming their shape like slugs and amoebas on the basis of soft actuator materials. This paper presents a new actuator model, Fukuhara-Tadokoro model of a high polymer actuator, ICPF (or IPMC) as a fundamental of design, fabrication, control and application of future mollukan robotics. Ionic migration in actuator material causes electric unbalance of sulfo groups producing lateral strain in addition to volume change by water unbalance. Simulation results show internal state change according to the motion principle.

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M3 - Paper

AN - SCOPUS:0036450747

SP - 2010

EP - 2017

T2 - 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 30 September 2002 through 4 October 2002

ER -

A dynamic model of ICPF actuator considering ion-induced lateral strain for molluskan robotics

Abstract

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ASJC Scopus subject areas

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