A bio-inspired robotic locomotion system based on conducting polymer actuators

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2009, Pages 998-1004

  Alici, Gursel ^a   Gunderson, Daniel ^a  

^a UNIVERSITY OF WOLLONGONG   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

BENDING MOTION; BIO-INSPIRATION; BIO-INSPIRED; BIO-INSPIRED ROBOTICS; CONFINED SPACE; DATA GATHERING; DESIGN METHODOLOGY; DRY AND WET; ELECTRIC POWER; FREE CANTILEVER; FUNCTIONAL DEVICES; GAIT DESIGN; LEGGED LOCOMOTION; LOCOMOTION SYSTEM; PIPE INSPECTION; POLYMER ACTUATORS; PROPULSION CONCEPT; ROBOTIC SYSTEMS; TRANSMISSION MECHANISMS;

ACTUATORS; ASYMPTOTIC ANALYSIS; BIPED LOCOMOTION; CANTILEVER BEAMS; CONCEPTUAL DESIGN; CONDUCTING POLYMERS; CONDUCTIVE PLASTICS; FUNCTIONAL POLYMERS; MECHATRONICS; ORGANIC CONDUCTORS; PRINTED CIRCUIT BOARDS; PRINTED CIRCUIT DESIGN; PRINTED CIRCUIT MANUFACTURE; ROBOTICS;

INTELLIGENT MECHATRONICS;

EID: 70350453740     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2009.5229717     Document Type: Conference Paper

References (22)

1. nd Edition, CRC Press, Florida, 2008.
2. R. H. Baughman, "Conducting polymer artificial muscles," Synthetic Metals, vol. 78, pp. 339-353, 1996.
3. P. G. A. Madden, J. D. Madden, P. A. Anquetil, N. A. Vandesteeg, and I. W. Hunter, "The Relation of Conducting Polymer Actuator Material Properties to Performance", IEEE Journal of Oceanic Engineering, Vol.29, No.3, pp. 696 - 705, July 2004.
4. E. Smela, "Conjugated Polymer Actuators for Biomedical Applications", Advanced Materials, Vol.15, No.6, pp. 481 - 494, March 2003.
5. G. Alici, and N. N. Huynh, "Performance Quantification of Conducting Polymer Actuators for Real Applications: A Microgripping System", IEEE/ASME Transactions. on Mechatronics, 12(1), pp.73 - 84 , February 2007.
6. S. W. John, G. Alici, and C. D. Cook, "Validation of a Resonant Frequency Model for Polypyrrole Trilayer Actuators", IEEE/ASME Transactions on Mechatronics, Vol.13, No.4, pp.401 - 409, August 2008.
7. G. Alici, G. M. Spinks, N. N. Huynh, L. Sarmadi, and R. Minato, "Establishment of a Biomimetic Device Based on Tri-layer Polymer Actuators - Propulsion Fins", Journal of Bioinspiration & Biomimetics, Vol.2, No.2, pp. S18-S30, June 2007.
8. Y. Wu, G. Alici, G.M. Spinks and G.G. Wallace, "Fast tri-layer polypyrrole bending actuators for high speed applications", Volume: 156, Issues 16-17, Synthetic Metals, pp. 1017-1022, August 1, 2006.
9. R. Frisch-Fay, Flexible Bars, Butterworth and Co. Ltd, London, 1962.
10. F. L. Chernousko, 'Modelling of snake-like locomotion', Applied Mathematics and Computation, vol.164, no.2, pp.415-434, 2005.
11. M. K.. Habib, K. Watanabe, and K. Izumi, 'Biomimetics Robots From Bio-inspiration to Implementation', in Proceedings of The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), Taipei, Taiwan, Nov. 5-8, 2007.
12. S. Hirose, and M. Mori, 'Biologically Inspired Snake-like Robots', in Proceedings of IEEE International Conference on Robotics and Biomimetics, Shenyang, China, August 22 - 26, 2004.
13. D. C. Kar, K. I. Kurien, and K. Jayarajan, 'Gaits and energetics in terrestrial legged locomotion', Mechanism and Machine Theory, vol. 38, no.4, pp. 355-366, 2003.
14. A. Menciassi, S. Gorini, G. Pernorio, L. Weiting, F. Valvo, and P. Dario, 'Design, Fabrication and Performances of a Biomimetic Robotic Earthworm', in Proceedings of IEEE International Conference on Robotics and Biomimetics, Shenyang, China, August 22 - 26, 2004.
15. I. Petre, 'Biology of Ciliates', 12 May, Accessed 12/05/2008, http://web.abo.fi/~ipetre/compproc/protozoa.pdf.
16. A. A. Biewener, and C. P. Lyman, Animal Locomotion, New York: Oxford University Press Inc., 2003.
17. D. Gunderson, 'Conceptual Design of a Bio-Inspired Locomotion System Based on Conducting Polymer Actuators', School of Mechanical, Materials and Mechatronic Engineering, Master of Engineering Practice Thesis, University of Wollongong, 2008.
18. th International Symposium on Smart Structures and Materials, and Nondestructive Evaluation and Health Monitoring, pp., Vol. 6524-57, San Diego, USA, March 2007.
19. S. W. John, and G. Alici, "Towards micro and nano manipulation systems: behaviour of a laminated polypyrrole (PPy) actuator driving a rigid link", 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 54 - 59, Monterey, USA, July 2005.
20. P. Metz, G. Alici, and G. M. Spinks, "A Finite Element Model for Bending Behaviour of Conducting Polymer Electromechanical Actuators", Sensors and Actuators A, Volumes: 130-131, pp. 1-11, August 2006.
21. G. Alici and N. N. Huynh, "Predicting Force Output of Trilayer Polymer Actuators", Sensors and Actuators A, Volume 132, No.2, pp. 616 - 625, November 2006.
22. G. Alici, V. Devaud, P. Renaud, and G. M. Spinks, "Conducting polymer microactuators operating in air", Journal of Micromechanics and Microengineering, Vol.19, No.2, 025017, February 2009