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  • 1
    Electronic Resource
    Electronic Resource
    Fabrication and Evaluation of Biomimetic Jellyfish Robot Using IPMC (2008)
    s.l. ; Stafa-Zurich, Switzerland
    Advances in science and technology Vol. 58 (Sept. 2008), p. 171-176 
    Details
    ISSN: 1662-0356
    Source: Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
    Topics: Natural Sciences in General , Technology
    Notes: In this study, fabrication and evaluation of a biomimetic jellyfish robot by using IPMCactuators were performed. Application fields of the existing IPMC actuators are limited due to the flatshape which is a serious weakness for such actuation material. A new curved IPMC actuator with anintended initial deformation was newly developed to overcome the weakness of the flat IPMCactuator and to mimic the jellyfish. The thermal treatment was applied to obtain the intended initialdeformation. The bio-inspired input signal was generated with mimicking real motion of the jellyfish.The vertical floating displacement and force of the biomimetic jellyfish robot under various drivingsignals were measured and compared vertical floating forces and motion of jellyfish robot. Unlikesinusoidal excitation, the bio-inspired input signals make position. Although there are still certainproblems to be resolved in the power system and buoyancy, the curved IPMC actuators may possiblybe a promising candidate that can materialize the biomimetic fish robot
    Type of Medium: Electronic Resource
    URL: http://www.tib-hannover.de/fulltexts/2011/0528/01/42/transtech_doi~10.4028%252Fwww.scientific.net%252FAST.58.171.pdf
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  • 2
    Electronic Resource
    Electronic Resource
    Modal Reduced Order Model for Vision Sensing of IPMC Actuator (2006)
    s.l. ; Stafa-Zurich, Switzerland
    Key engineering materials Vol. 326-328 (Dec. 2006), p. 1523-1526 
    Details
    ISSN: 1013-9826
    Source: Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: [removed info]In order to control the IPMC (Ionic Polymer Metal Composite) actuators, it is necessaryto use a vision sensing system and a reduced order model from the vision sensing data. In this study,the MROVS (Modal Reduced Order Vision Sensing) model using the least square method has beendeveloped for implementation of the biomimetic motion generation. The simulated transversedisplacement is approximated with a sum of the lower mode shapes of the cantilever beam. The NIPXI1409 image acquisition board and CCD camera (XC-HR50) are used in the experimental setup.Present results show that the MROVS model can efficiently process the vision sensing of thebiomimetic IPMC actuator with cost-effective computational time
    Type of Medium: Electronic Resource
    URL: http://www.tib-hannover.de/fulltexts/2011/0528/01/52/transtech_doi~10.4028%252Fwww.scientific.net%252FKEM.326-328.1523.pdf
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