Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

  title={Motion-control analysis of ICPF-actuated underwater biomimetic microrobots},
  author={Baofeng Gao and Shuxiang Guo and Xiufen Ye},
  journal={Int. J. Mechatronics Autom.},
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… 

A bio-inspired underwater microrobot with compact structure and multifunctional locomotion

  • Liwei ShiShuxiang GuoK. Asaka
  • Engineering, Computer Science
    2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
  • 2011
A new type of underwater microrobot using ten ionic polymer metal composite (IPMC) actuators as legs or fingers, which could implement walking, rotating, floating, and grasping motions is proposed.

Fluid Dynamic Analysis of an ICPF Actuated Fish-like Underwater Microrobot with 3 DOF

As the development of biological sciences, many microrobots are designed for biomimetic locomotion in liquid environments with biomimetic actuators, such as ICPF (ionic conducting polymer films). In

Modeling and position control of IPMC actuators for the underwater biomimetic microrobot

Several novel bio-inspired biomimetic locomotions with ionic polymer metal composite (IPMC) actuators are developed with compact structure, multi-functionality, flexibility, and position precision for underwater microrobots.

Development of a biomimetic underwater microrobot for a father–son robot system

Conventional underwater intervention tasks are performed by underwater vehicles equipped with rigid multi-link arms. However, the movements of conventional mechanical arms exert reactive force on the

Characteristics evaluation of a biomimetic microrobot for a Father-son Underwater Intervention Robotic system

The results indicated that the biomimetic microrobot can realize underwater manipulation for the targets with different shape and size objects successfully.

Radio communication for the ICPF-based robotic fish

  • Baofeng GaoShuxiang Guo
  • Computer Science
    The 2011 IEEE/ICME International Conference on Complex Medical Engineering
  • 2011
Simulation results show that path planning using particle swarm optimization can be used to automatically navigate underwater obstacles, which will make the system more robust as the micro-robots find the best path to a given destination.

A Multifunctional Underwater Biomimetic Microrobot

A mother–son robot system, composed of several microrobots as sons and a newly designed amphibious spherical robot as the mother, to realize the necessary multifunctionality for adapting to complex underwater environments is proposed.

A biomimetic underwater microrobot with multifunctional locomotion

Design and performance evaluation of a biomimetic microrobot for the father–son underwater intervention robotic system

Underwater intervention is a favorite and difficult task for AUVs. To realize the underwater manipulation for the small size spherical underwater robot SUR-II, a father–son underwater intervention

Development of a Lobster-Inspired

Biomimetic underwater microrobots are of great interest for underwater monitoring operations, such as pollution detection and video mapping in restricted underwater environments. Generally speaking,



Development of ICPF Actuated Underwater Microrobots

It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility,good response and

A novel multifunctional underwater microrobot

This work designed a novel type of biomimetic locomotion employing ionic polymer metal composite (IPMC) actuators as one-DOF legs or fingers and proposed a new type of underwater microrobot which could realize walking, rotating, floating, and grasping motions.

Development of underwater microrobot with biomimetic locomotion

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a

The development of a hybrid underwater micro biped robot

There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous

Development of an Infrared Ray controlled fish-like underwater microrobot

Novel materials such as ICPF has been used as actuators in underwater microrobot for many years, and this paper developed an individual fish-like underwater microrobot which consists of ATMEL AVR

A new type of fish-like underwater microrobot

This paper presents a new prototype model of an underwater fish-like microrobot utilizing ionic conducting polymer film (ICPF) actuator as the servo actuator to realize swimming motion with three

Path-planning optimization of underwater microrobots in 3-D space by PSO Approach

  • Shuxiang GuoBaofeng Gao
  • Computer Science
    2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
  • 2009
The paper proposes a kind of novel underwater multi-microrobot system which is consist of a mother submarine and several microrobots with ICPF (Ionic Conducting Polymer Film) actuators and develops a novel spiral particle pathway searching approach and PSO approach.

Steering mechanism of underwater micro mobile robot

A prototype micro mobile robot which has a new steering mechanism and has many possible applications, such as small pipelines inspection and use in biomedical fields is proposed.

Development of a novel type of microrobot for biomedical application

This paper proposes a new type of microrobot that can move along a narrow area such as blood vessels which has great potential for application in microsurgery. Also, the development of a wireless

Biomimetic robotic propulsion using polymeric artificial muscles

Several theoretical hydrodynamic models were presented to characterize speed-frequency of the forward motion using available theories on biological fish motion and the results were compared to experimental data which showed close agreement.