Development of artificial muscle actuator using an ionic polymer with its application to biped walking robots

Masaki Yamakita; Norihiko Kamamichi; Yasuaki Kaneda; Kinji Asaka; Zhi-Wei Luo

doi:10.1117/12.484290

28 July 2003 Development of artificial muscle actuator using ionic polymer with its application to biped walking robots

Masaki Yamakita, Norihiko Kamamichi, Yasuaki Kaneda, Kinji Asaka, Zhi-Wei Luo

Author Affiliations +

Proceedings Volume 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD); (2003) https://doi.org/10.1117/12.484290
Event: Smart Structures and Materials, 2003, San Diego, California, United States

Abstract

We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC) which is an electro-active polymer that bends in response to electric stimuli and the goal of our study is to apply the actuator to robotic applications especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, we demonstrate walking simulations of a small-sized biped walking robot. In the numerical simulation we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot and that they are stretched and compressed enough. It is shown throughout the simulation that the biped walking robot with the actuators can walk on a level ground with a period synchronized with a period of input signal.

Citation Download Citation

Masaki Yamakita, Norihiko Kamamichi, Yasuaki Kaneda, Kinji Asaka, and Zhi-Wei Luo "Development of artificial muscle actuator using ionic polymer with its application to biped walking robots", Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003); https://doi.org/10.1117/12.484290

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