Insect-inspired biomimetic underwater microrobots for a father-son robot system
Insect-inspired biomimetic underwater microrobots for a father-son robot system
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DOI：
10.1109/icma.2015.7237616
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发表时间：
2015-09
期刊：
影响因子：
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通讯作者：
Maoxun Li;Shuxiang Guo;Kazuhiro Yamashita
中科院分区：
文献类型：
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作者：
Maoxun Li;Shuxiang Guo;Kazuhiro Yamashita
在以往的研究中，许多由智能驱动器驱动的水下微型机器人已经实现了行走、游泳、漂浮和抓取等基本运动。然而，由于其结构紧凑，大多数驱动器采用开环控制方式和有线控制方式，限制了其移动性。为了克服这些局限性，提出了一种父子机器人系统。在该系统中，微型机器人由一个高速的父亲机器人携带，它提供电力和发送控制信号给微型机器人。本文研制了两种基于ICPF（离子导电聚合物薄膜）驱动器的可安装在父机器人上的微型昆虫机器人。确定了机器人的基本操作。在受限空间中，一个9 ICPF驱动器为基础的微型机器人携带接近传感器，以实现目标回收的操作。在此基础上，对光电二极管的性能进行了评估，并在基于8个ICPF驱动器的微机器人前端安装了两个光传感器，实现了微机器人的目标定位和恢复。利用光传感器，多机器人可以实现跟踪运动，也可以回到父亲的机器人。
In previous researches, a number of underwater microrobots powered by smart actuators have realized basic motions such as walking, swimming, floating and grasping motions. However, most of them are actuated by an open-loop control mode and wired control mode, which limit their mobility, because of the compact structure. In order to overcome these limitations, a father-son robot system was proposed. In this system, microrobots are carried by a high-speed father robot, which provides the power and sends the control signals to microrobots. In this paper, two kinds of ICPF (ionic conducting polymer film) actuator-based insect-inspired microrobots for mounting on the father robot are developed. The basic operations of the robots are confirmed. In confined spaces, a 9 ICPF actuator-based microrobot carrying a proximity sensor is developed to realize the operation of object recovery. Then we evaluate the performance of photodiode and carry two light sensors on the front of an 8 ICPF actuator-based microrobot to realize finding the target position and recovery of the microrobot. Using the light sensors, multi-robots can realize the tracking motion and also can get back to the father robot.