Skip to main content
SpringerLink
Log in

IPMC Actuator-Based Multifunctional Underwater Microrobots

  • Chapter
  • First Online:
Soft Actuators

Abstract

A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Due to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater monitoring operations, even 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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 109.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 149.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Shi L, Guo S, Asaka K (2011) Development of a new jellyfish-type underwater microrobot. Int J Robot Autom 26(2):229–241

    Google Scholar 

  2. Guo S, Shi L, Asaka K, Li L (2009) Experiments and characteristics analysis of a bio-inspired underwater microrobot. In: Proceedings of the 2009 I.E. international conference on mechatronics and automation, Changchun, China, 9–12 August 2009

    Google Scholar 

  3. Lin X, Guo S (2012) Development of a spherical underwater robot equipped with multiple vectored water-jet-based thrusters. J Intell Robot Syst 67(3–4):307–321

    Article  Google Scholar 

  4. Cavallo E, Michelini R, Filaretov V (2004) Conceptual design of an AUV equipped with a three degrees of freedom vectored thrusters. J Intell Robot Syst 39(4):365–391

    Article  Google Scholar 

  5. Duchemin O, Lorand A, Notarianni M, Valentian D, Chesta E (2007) Multi-channel hall-effect thrusters: mission applications and architecture trade-offs. In: Proceedings of the 30th international electric propulsion conference, Florence, Italy, 17–20 September 2007

    Google Scholar 

  6. Behkam B, Sitti M (2006) Design methodology for biomimetic propulsion of miniature swimming robots. J Dyn Syst Meas Control 128(1):36–43

    Article  Google Scholar 

  7. Zhang W, Guo S, Asaka K (2006) A new type of hybrid fish-like microrobot. Int J Automat Comp 3(4):358–365

    Article  Google Scholar 

  8. Heo S, Wiguna T, Park H, Goo N (2007) Effect of an artificial caudal fin on the performance of a biomimetic fish robot propelled by piezoelectric actuators. J Bionic Eng 4(3):151–158

    Article  Google Scholar 

  9. Villanueva A, Joshi K, Blottman J, Priya S (2010) A bio-inspired shape memory alloy composite (BISMAC) actuator. Smart Mater Struct 19(025013):1–17

    Google Scholar 

  10. Wang Z, Hang G, Li J, Wang Y, Xiao K (2008) A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin. J Sens Actuators A Phys 144(2):354–360

    Article  CAS  Google Scholar 

  11. Lee S, Kim K, Park I (2007) Modeling and experiment of a muscle-like linear actuator using an ionic polymer–metal composite and its actuation characteristics. J Smart Mater Struct 16(3):583–588

    Article  CAS  Google Scholar 

  12. Liu S, Lin M, Zhang Q (2008) Extensional ionomeric polymer conductor composite actuators with ionic liquids. In: Electroactive polymer actuators and devices (EAPAD), vol 6927, p 69270H

    Google Scholar 

  13. Nakadoi H, Sera A, Yamakita M, Asaka K, Luo Z, Ito K (2007) Integrated actuator-sensor system on patterned IPMC film: consideration of electronic interference. In: Proceedings of the 2007 4th IEEE international conference on mechatronics, 8–10 May 2006

    Google Scholar 

  14. McGovern ST, Spinks GM, Xi B, Alici G, Truong V, Wallace GG (2008) Fast bender actuators for fish-like aquatic robots. In: Electroactive polymer actuators and devices (EAPAD), vol 6927, p 69271L

    Google Scholar 

  15. Kamamichi N, Yamakita M, Asaka K, Luo Z (2006) A snake-like swimming robot using IPMC actuator/sensor. In: Proceedings of the 2006 I.E. international conference on robotics and automation, Orlando, Florida, USA, 15–19 May 2006

    Google Scholar 

  16. Kim B, Kim D, Jung J, Park J (2005) A biomimetic undulatory tadpole robot using ionic polymer–metal composite actuators. J Smart Mater Struct 14:1579–1585

    Article  CAS  Google Scholar 

  17. Ye X, Su Y, Guo S, Wang L (2008) Design and realization of a remote control centimeter-scale robotic fish. In: Proceedings of the 2008 IEEE/ASME international conference on advanced intelligent mechatronics, Xi’an, China, 2–5 July 2008

    Google Scholar 

  18. Yim W, Lee J, Kim KJ (2007) An artificial muscle actuator for biomimetic underwater propulsors. J Bioinspir Biomim 2(2):S31–S41

    Article  Google Scholar 

  19. Ye X, Hu Y, Guo S, Su Y (2008) Driving mechanism of a new jellyfish-like microrobot. In: Proceedings of 2008 I.E. international conference on mechatronics and automation, Takamatsu, Japan, 5–8 August 2008

    Google Scholar 

  20. Kamamichi N, Kaneda Y, Yamakita M, Asaka K, Luo ZW (2003) Biped walking of passive dynamic walker with IPMC linear actuator. In: Proceedings of SICE annual conference in Fukui, Fukui University, Japan, 4–6 August 2003

    Google Scholar 

  21. Guo S, Mao S, Shi L, Li M (2012) Development of an amphibious mother spherical robot used as the carrier for underwater microrobots. In: Proceedings of the 2012 ICME international conference on complex medical engineering, Kobe, Japan, 1–4 July 2012

    Google Scholar 

  22. Guo S, Mao S, Shi L, Li M (2012) Design and kinematic analysis of an amphibious spherical robot. In: Proceedings of 2012 I.E. international conference on mechatronics and automation, Chengdu, China, 5–8 August 2012

    Google Scholar 

  23. Guo S, Okuda Y, Zhang W, Ye X, Asaka K (2006) The development of a hybrid underwater micro biped robot. J Appl Bionics Biomech 3(3):143–150

    Article  Google Scholar 

  24. Zhang W, Guo S, Asaka K (2006) Development of an underwater biomimetic microrobot with both compact structure and flexible locomotion. J Microsyst Technol 13(8):883–890

    Google Scholar 

  25. Shi L, Guo S, Asaka K (2010) A novel multifunctional underwater microrobot. In: Proceedings of the 2010 I.E. international conference on robotics and biomimetics, Tianjin, China, 14–18 December 2010

    Google Scholar 

  26. Shi L, Guo S, Asaka K (2012) A novel jellyfish- and butterfly-inspired underwater microrobot with pectoral fins. Int J Robot Autom 27(3):276–286

    Google Scholar 

  27. Gong Y, Fan J, Tang C, Tsui C (2011) Numerical simulation of dynamic electro-mechanical response of ionic polymer-metal composites. J Bionic Eng 8:263–272

    Article  Google Scholar 

  28. Gao B, Guo S (2010) Development of an infrared ray controlled fish-like underwater microrobot. In: Proceedings of the 2010 I.E. international conference on automation and logistics, Hong Kong & Macau, China, 16–20 August 2010

    Google Scholar 

  29. Gao B, Guo S, Ye X (2011) Motion-control analysis of ICPF-actuated underwater biomimetic microrobots. Int J Mechatr Automat 1(2):79–89

    Article  Google Scholar 

  30. Shi L, Guo S, Asaka K (2011) A novel butterfly-inspired underwater microrobot with pectoral fins. In: Proceedings of the 2011 I.E. international conference on mechatronics and automation, Beijing, China, 7–10 August 2011

    Google Scholar 

  31. Shi L, Guo S, Asaka K (2011) A bio-inspired underwater microrobot with compact structure and multifunctional locomotion. In: Proceedings of 2011 IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2011), Budapest, Hungary, 3–7 July 2011

    Google Scholar 

  32. Guo S, Shi L, Xiao N, Asaka K (2012) A biomimetic underwater microrobot with multifunctional locomotion. Robot Autonom Syst 60(12):1472–1473

    Article  Google Scholar 

  33. Yeom S, Oh I (2009) A biomimetic jellyfish robot based on ionic polymer metal composite actuators. J Smart Mater Struct 18(085002):1–16

    Google Scholar 

  34. Villanueva A, Priya S, Anna C, Smith C (2010) Robojelly bell kinematics and resistance feedback control. In: Proceedings of the 2010 I.E. international conference on robotics and biomimetics, Tianjin, China, 14–18 December 2010

    Google Scholar 

  35. Villanueva A, Smith C, Priya S (2011) A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators. Bioinspir Biomim 6(3):1–16

    Article  Google Scholar 

  36. Chen Z, Um TI, Bart-Smith H (2011) A novel fabrication of ionic polymer-metal composite membrane actuator capable of 3-dimensional kinematic motions. Sens Actuators A Phys 168(1):131–139

    Article  CAS  Google Scholar 

  37. Jain RK, Patkar US, Majumdar S (2009) Micro gripper for micromanipulation using IPMCs (ionic polymer metal composites). J Sci Ind Res 68(1):23–28

    CAS  Google Scholar 

  38. Chu W, Lee K, Song S, Han M, Lee J, Kim H, Kim M, Park Y, Cho K, Ahn S (2012) Review of biomimetic underwater robots using smart actuators. Int J Precis Eng Manuf 13(7):1281–1292

    Article  Google Scholar 

  39. Shi L, Guo S, Mao S, Li M, Asaka K (2013) Development of a lobster-inspired underwater microrobot. Int J Adv Robot Syst 10:1–15. doi:10.5772/54868

    Article  CAS  Google Scholar 

  40. Shi L, Guo S, Li M, Mao S, Xiao N, Gao B, Song Z, Asaka K (2012) A novel soft biomimetic microrobot with two motion attitudes. Sensors 12(12):16732–16758

    Article  Google Scholar 

  41. Guo S, Li M, Shi L, Mao S (2012) A smart actuator-based underwater microrobot with two motion attitudes. In: Proceedings of 2012 I.E. international conference on mechatronics and automation, Chengdu, China, 5–8 August 2012

    Google Scholar 

  42. Shi L, Guo S, Asaka K (2012) Modeling and experiments of IPMC actuators for the position precision of underwater legged microrobots. In: Proceedings of the 2012 I.E. international conference on automation and logistics, Zhengzhou, China, 15–17 August 2012

    Google Scholar 

  43. Park I, Kim S, Kim D, Kin K (2007) The mechanical properties of ionic polymer-metal pomposities. In: Journal of electroactive polymer actuators and devices (EAPAD), vol 6524, p 65241R

    Google Scholar 

  44. Pan Q, Guo S, Okada T (2011) A novel hybrid wireless microrobot. Int J Mechatr Automat 1(1):60–69

    Article  Google Scholar 

  45. Ha NS, Goo NS (2010) Propulsion modeling and analysis of a biomimetic swimmer. J Bionic Eng 7(3):259–266

    Article  Google Scholar 

Download references

Acknowledgments

This research is supported by Kagawa University Characteristic Prior Research Fund 2012.

Author information

Authors and Affiliations

  1. Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan

    Shuxiang Guo

  2. School of Life Science, Beijing Institute of Technology, Beijing, 100081, China

    Shuxiang Guo & Liwei Shi

Authors
  1. Shuxiang Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Liwei Shi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Shuxiang Guo .

Editor information

Editors and Affiliations

  1. National Institute of Advanced Industrial Science and Technology (AIST), Osaka, Japan

    Kinji Asaka

  2. University of Yamanashi, Kofu, Japan

    Hidenori Okuzaki

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Japan

About this chapter

Cite this chapter

Guo, S., Shi, L. (2014). IPMC Actuator-Based Multifunctional Underwater Microrobots. In: Asaka, K., Okuzaki, H. (eds) Soft Actuators. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54767-9_29

Download citation

Publish with us

Policies and ethics

Search

Navigation