Towards an all-polymer robot for search and rescue

摘要

This paper discusses two components suitable for construction of an all-polymer robot, namely a synthetic neural network and water hammer based actuation. A new data processing element, termed synthetic neural network, or SNN, based on a concept of a polymer-based bistable memory device and a conventional transistor made from polymers, is proposed. A phenomenon known as the water hammer effect is described for the purposes of propulsion of the serpentine robot constructed from polymer tubing. Arresting the flow of water in the tube causes it to lurch forward. A relationship between the shape of the hose and the direction of propulsion is investigated with the goal of using the SNN to learn to control the forward progress of the robot based on polymer bend sensors.