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Proceedings Paper

Soft ionic polymer metal composite (IPMC) robot swimming in viscous fluid
Author(s): Boyko L. Stoimenov; Jonathan Rossiter; Toshiharu Mukai
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Paper Abstract

Ionic polymer metal composite (IPMC) is an ideal material for underwater biomimetic robots. Its softness is very helpful for generating biomimetic motion. Because IPMCs naturally contain water they do not require extra sealing. The resulting robot can be soft and lightweight. Previous research on swimming robots is focused on robots swimming in water. In our study we compare the suitability of two different locomotion patterns - tail oscillation and body undulation, for swimming in viscous fluid. We found that in water both patterns could propel the robot by generating vortices behind the robot body. In viscous fluid the robot could be propelled only by body undulation without much disturbance of nearby fluid. Unlike tail oscillation, the whole body undulation was shown to be a suitable pattern for locomotion in both water and viscous fluid.

Paper Details

Date Published: 6 April 2009
PDF: 8 pages
Proc. SPIE 7287, Electroactive Polymer Actuators and Devices (EAPAD) 2009, 72872B (6 April 2009);
Show Author Affiliations
Boyko L. Stoimenov, RIKEN (Japan)
Jonathan Rossiter, Univ. of Bristol (United Kingdom)
Toshiharu Mukai, RIKEN (Japan)

Published in SPIE Proceedings Vol. 7287:
Electroactive Polymer Actuators and Devices (EAPAD) 2009
Yoseph Bar-Cohen; Thomas Wallmersperger, Editor(s)

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