An underwater microrobot with six legs using ICPF actuators

Abstract

In this paper, an underwater microrobot with six legs using ICPF (ion conductive polymer film) actuators is presented. The underwater microrobot aims to implement multi-DOF of robotic motions in wide applications such as mine-clearing operations, pipeline tracking and surveying deep-ocean. In order to implement this goal, it is important to select a reasonable drive. The ICPF is one of actuator materials. The ICPF has advantages of low voltage driving, low noise and no pollution. The control of floating and diving are available by modulating the gaits of the microrobot. The robot's speed is changed by adjusting the voltage and frequency of the both ends of the robot. Experiments have proved that it is feasible to study the gaits of the microrobot. The development of this system can be a prospect approach for further research in the field of underwater microrobot.