Otis Martin J.-D., Jarry Martin, Fontaine Réjean, Ménard Hugues et Masson Patrice. 3D Modelization of an hexapod BioMicroRobot propulsion system with IPMC actuators. Dans : 1st Annual IEEE Northeast Workshop on Circuits and Systems (NEWCAS '2003) , 17-20 June 2003, Montreal, Canada.
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Résumé
This paper shows a new propulsion system for an insect like hexapod BioMicroRobot (BMR) build with tubular and cylindrical Nafion-Pt Ionomeric Polymer-Metal Composite (IPMC) that have 2.5 degrees of freedom. The purpose of this design is to control a BMR for biomedical goals as implantation in human body. Bending and leg characteristics have been measured in water using a laser vibrometer. An overview of the robot control system in accordance with the insect displacement principle is demonstrated. A control algorithm of the six legs versus the PWM modulation is also described. Experimental results on the proposed legs are conclusive for this type of bioinspired BMR.
| Type de document: | Matériel de conférence (Non spécifié) |
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| Sujets: | Sciences naturelles et génie > Génie > Génie électrique et génie électronique Sciences naturelles et génie > Génie > Génie informatique et génie logiciel |
| Département, module, service et unité de recherche: | Départements et modules > Département des sciences appliquées > Module d'ingénierie |
| Mots-clés: | Control, insect, IPMC, locomotion, microrobot, contrôle, insectes |
| Déposé le: | 08 sept. 2017 01:36 |
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| Dernière modification: | 08 sept. 2017 01:36 |
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