Three-phase Control for Miniaturization of a Snake-like Swimming Robot

JM Rossiter, B Stoimenov, Y Nakabo, T Mukai

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

11 Citations (Scopus)


We present the design and control of a soft undulating snake-like swimming robot that can be miniaturized down to the millimeter scale. We consider the miniaturization of an ionic polymer metal composite (IPMC) robot with respect to Reynolds number and propose biologically inspired undulating motion as a suitable swimming mechanism that can scaled down in excess of three orders of magnitude. We examine the control system needed to generate this undulating motion and take inspiration from poly-phase electrical power delivery systems to greatly simplify the control system, while maintaining the ability to move forwards and backwards and to turn. As a result of the simplified three-phase control we can further simplify the structure of the robot and make miniaturization more practical.
Translated title of the contributionThree-phase Control for Miniaturization of a Snake-like Swimming Robot
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1215 - 1220
Number of pages6
ISBN (Print)1424405718
Publication statusPublished - 17 Dec 2006

Bibliographical note

Conference Organiser: IEEE


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