Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

@article{Gao2011MotioncontrolAO,
  title={Motion-control analysis of ICPF-actuated underwater biomimetic microrobots},
  author={Baofeng Gao and Shuxiang Guo and Xiufen Ye},
  journal={Int. J. Mechatronics Autom.},
  year={2011},
  volume={1},
  pages={79-89}
}
This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm… 

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