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

JM Rossiter; B Stoimenov; Y Nakabo; T Mukai

doi:10.1109/ROBIO.2006.340101

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 proceeding › Conference Contribution (Conference Proceeding)

11 Citations (Scopus)

Abstract

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 contribution	Three-phase Control for Miniaturization of a Snake-like Swimming Robot
Original language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1215 - 1220
Number of pages	6
ISBN (Print)	1424405718
DOIs	https://doi.org/10.1109/ROBIO.2006.340101
Publication status	Published - 17 Dec 2006

Bibliographical note

Conference Organiser: IEEE

Access to Document

10.1109/ROBIO.2006.340101

http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4142038

Fingerprint Dive into the research topics of 'Three-phase Control for Miniaturization of a Snake-like Swimming Robot'. Together they form a unique fingerprint.

Cite this

@inproceedings{90f0740a5a4649eb836f464184463a5f,

title = "Three-phase Control for Miniaturization of a Snake-like Swimming Robot",

abstract = "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.",

author = "JM Rossiter and B Stoimenov and Y Nakabo and T Mukai",

note = "Conference Organiser: IEEE",

year = "2006",

month = dec,

day = "17",

doi = "10.1109/ROBIO.2006.340101",

language = "English",

isbn = "1424405718",

pages = "1215 -- 1220",

booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Three-phase Control for Miniaturization of a Snake-like Swimming Robot. / Rossiter, JM; Stoimenov, B; Nakabo, Y; Mukai, T.

IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December. Institute of Electrical and Electronics Engineers (IEEE), 2006. p. 1215 - 1220.

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

TY - GEN

T1 - Three-phase Control for Miniaturization of a Snake-like Swimming Robot

AU - Rossiter, JM

AU - Stoimenov, B

AU - Nakabo, Y

AU - Mukai, T

N1 - Conference Organiser: IEEE

PY - 2006/12/17

Y1 - 2006/12/17

N2 - 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.

AB - 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.

U2 - 10.1109/ROBIO.2006.340101

DO - 10.1109/ROBIO.2006.340101

M3 - Conference Contribution (Conference Proceeding)

SN - 1424405718

SP - 1215

EP - 1220

BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, China, 17-20 December

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -