Title: Motion-control analysis of ICPF-actuated underwater biomimetic microrobots

Authors: Baofeng Gao, Shuxiang Guo, Xiufen Ye

Addresses: Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, 761-0396, Japan. ' Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, 761-0396, Japan; Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang 150001, China. ' Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang 150001, China

Abstract: This paper introduces the development of biomimetic underwater microrobots consisting of AVR microcontroller, an infrared ray communication system, and ionic conducting polymer film (ICPF) actuators. We use AVR ATmega16 as the control unit and an infrared ray receiver to provide feedback to the AVR unit. The spiral particle pathway searching approach is developed to search for particles. We also use MATLAB and OpenGL to simulate the path planning and optimisation according to the particle swarm optimisation algorithm. We implemented and demonstrated wireless control over the trajectory of individual microrobot, and extended this to three units in an expect formation.

Keywords: underwater biomimetic microrobots; AVR microcontrollers; ionic conducting polymer films; ICPF actuators; particle swarm optimisation; PSO; robot path planning; optimisation; biomimetics; motion control; robot control; underwater robots; infrared communications; wireless control; robot trajectories; robot formations; robot motion.

DOI: 10.1504/IJMA.2011.040038

International Journal of Mechatronics and Automation, 2011 Vol.1 No.2, pp.79 - 89

Available online: 12 May 2011 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article