Development of an amphibious robotic propulsor based on electroactive polymers
This paper presents the project of a robotic device for propulsion in aquatic environment. The propulsor is a biologically inspired system characterized by efficiency and flexibility for locomotion environment changing: the legs of anuran amphibious. These animals are exceptionally adapted to locomo...
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| creator | Hirano, L.A. Martins-Filho, L.S. Duarte, R.O. de Paiva, J.F. |
| description | This paper presents the project of a robotic device for propulsion in aquatic environment. The propulsor is a biologically inspired system characterized by efficiency and flexibility for locomotion environment changing: the legs of anuran amphibious. These animals are exceptionally adapted to locomotion in water and land. This type of locomotion requires specific features of the mechanisms that are hardly provided by traditional solutions based on standard electric motors. The proposed approach is based on ionomeric polymers-metal composites drives, constituting a system commonly called artificial muscle. The paper presents the anuran locomotion modeling, a description of the electroactive polymers, the experimental production procedures and results, and also discusses some constructive aspects of a first device prototype. |
| doi_str_mv | 10.1109/ICARA.2000.4803946 |
| format | Conference Proceeding |
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The paper presents the anuran locomotion modeling, a description of the electroactive polymers, the experimental production procedures and results, and also discusses some constructive aspects of a first device prototype.</description><subject>Actuators</subject><subject>Animals</subject><subject>aquatic propulsor</subject><subject>artificial muscles</subject><subject>Biological systems</subject><subject>electroactive polymers</subject><subject>Leg</subject><subject>Mechatronics</subject><subject>Mobile robots</subject><subject>Muscles</subject><subject>Polymers</subject><subject>Propulsion</subject><subject>Prototypes</subject><subject>robotics</subject><isbn>9781424427123</isbn><isbn>1424427126</isbn><isbn>1424427134</isbn><isbn>9781424427130</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kMtqwzAURFVKoE3qH2g3-gGnVw9b0jKkTwgtlOyDJF9TFdsykhPI39fQdDUMzBmGIeSewZoxMI_v283XZs0BYC01CCPrK7JkkkvJFRPymhRG6X_PxYIs56w2UCkDN6TI-WdGmakVh_qWfDzhCbs49jhMNLbUDtT243dwIR4zTdHFKXg6pjgeuxwTdTZjQ-NAsUM_pWj9FE5Ix9ide0z5jixa22UsLroi-5fn_fat3H2-zsN3ZTAwlbplnDOvbGOx5VA5Iy36uqlNpbARwrWVrrn3qgLtpGaISmrJNQchVOVBrMjDX21AxMOYQm_T-XC5Q_wCoI1SKw</recordid><startdate>200902</startdate><enddate>200902</enddate><creator>Hirano, L.A.</creator><creator>Martins-Filho, L.S.</creator><creator>Duarte, R.O.</creator><creator>de Paiva, J.F.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200902</creationdate><title>Development of an amphibious robotic propulsor based on electroactive polymers</title><author>Hirano, L.A. ; Martins-Filho, L.S. ; Duarte, R.O. ; de Paiva, J.F.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-8f1221c7adaef205b94aec6d6957ed33bf5862cc7508b481ee748428203375c03</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Actuators</topic><topic>Animals</topic><topic>aquatic propulsor</topic><topic>artificial muscles</topic><topic>Biological systems</topic><topic>electroactive polymers</topic><topic>Leg</topic><topic>Mechatronics</topic><topic>Mobile robots</topic><topic>Muscles</topic><topic>Polymers</topic><topic>Propulsion</topic><topic>Prototypes</topic><topic>robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Hirano, L.A.</creatorcontrib><creatorcontrib>Martins-Filho, L.S.</creatorcontrib><creatorcontrib>Duarte, R.O.</creatorcontrib><creatorcontrib>de Paiva, J.F.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hirano, L.A.</au><au>Martins-Filho, L.S.</au><au>Duarte, R.O.</au><au>de Paiva, J.F.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Development of an amphibious robotic propulsor based on electroactive polymers</atitle><btitle>2009 4th International Conference on Autonomous Robots and Agents</btitle><stitle>ICARA</stitle><date>2009-02</date><risdate>2009</risdate><spage>284</spage><epage>289</epage><pages>284-289</pages><isbn>9781424427123</isbn><isbn>1424427126</isbn><eisbn>1424427134</eisbn><eisbn>9781424427130</eisbn><abstract>This paper presents the project of a robotic device for propulsion in aquatic environment. The propulsor is a biologically inspired system characterized by efficiency and flexibility for locomotion environment changing: the legs of anuran amphibious. These animals are exceptionally adapted to locomotion in water and land. This type of locomotion requires specific features of the mechanisms that are hardly provided by traditional solutions based on standard electric motors. The proposed approach is based on ionomeric polymers-metal composites drives, constituting a system commonly called artificial muscle. The paper presents the anuran locomotion modeling, a description of the electroactive polymers, the experimental production procedures and results, and also discusses some constructive aspects of a first device prototype.</abstract><pub>IEEE</pub><doi>10.1109/ICARA.2000.4803946</doi><tpages>6</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Animals aquatic propulsor artificial muscles Biological systems electroactive polymers Leg Mechatronics Mobile robots Muscles Polymers Propulsion Prototypes robotics |
| title | Development of an amphibious robotic propulsor based on electroactive polymers |
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