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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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General information |
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Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Asaka, Kinji; Mao, Shilian |
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InTech Open Access Publisher, 2013
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| Abstract |
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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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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