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Development of a Lobster-Inspired Underwater Microrobot : Sviluppo di un microrobot subacqueo inspirato da un'aragosta, in: International Journal of Advanced Robotic Systems

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Autor Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Asaka, Kinji; Mao, Shilian
Erschienen  InTech Open Access Publisher, 2013
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Kurzbeschreibung Biomimetic underwater microrobots are of great
interest for underwater monitoring operations, such as
pollution detection and video mapping in restricted
underwater environments. Generally speaking, compact
structure, multi‐functionality, flexibility and precise
positioning are considered incompatible characteristics for
underwater microrobots. Nevertheless, we have designed
several novel types of bio‐inspired locomotion, using ionic
polymer metal composite (IPMC) and shape memory alloy
(SMA) actuators. We reviewed a number of previously
developed underwater microrobot prototypes that were
constructed to demonstrate the feasibility of these types of
biomimetic locomotion. Based on these prototypes, we
summarized the implemented techniques and available
results for efficient and precise underwater locomotion. In
order to combine compact structure, multi‐functionality,
flexibility and precise positioning, we constructed a
prototype of a new lobster‐like microrobot and carried out
a series of experiments to evaluate its walking, rotating,
floating and grasping motions. Diving/surfacing
experiments were performed by electrolyzing the water
around the surfaces of the actuators. Three proximity
sensors were installed on the microrobot to detect an object
or avoid an obstacle while walking.
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no fulltext found International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Erschienen: 2004
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Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32500009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32500009.html
PDF FaviconPDF  Development of a Lobster-Inspired Underwater Microrobot
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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