@inproceedings{dbdd4f8409ae4890b991f6ee0650f376,
title = "Development of bio-inspired walking microrobot using PVDF/PVP/PSSA-based IPMC actuator",
abstract = "Ionic polymer-metal composite (IPMC) is used in many bio-inspired aquatic systems due to its special characteristics of wet electro-active polymer (EAP). This paper proposes an IPMC actuator using poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane and explains a bio-inspired walking microrobot using the proposed IPMCs as actuators. The proposed IPMC actuator was fabricated using a PVDF/PVP/PSSA solution with the mixture ratio of 30/15/55. It could generate higher tip displacement and blocking force at low DC voltages compared with Nafion-based IPMC actuator. The PVDF/PVP/PSSA-based IPMC actuators were employed for our bio-inspired walking microrobot. Finally, the bio-inspired terrestrial walking microrobot has the weight of 1.3g and can demonstrate a walking motion with a speed of 0.55mm/s on the 0.2 coefficient of friction surface.",
keywords = "Biomimetic robot, Ionic polymer-metal composite (IPMC), Smart material actuator, Walking robot",
author = "Tien, \{Nguyen Kim\} and Doyeon Hwang and Sunyong Jung and Ko, \{Seong Young\} and Park, \{Jong Oh\} and Sukho Park",
year = "2014",
doi = "10.1109/ICMA.2014.6885670",
language = "English",
isbn = "9781479939787",
series = "2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014",
publisher = "IEEE Computer Society",
pages = "49--54",
booktitle = "2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014",
note = "11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 ; Conference date: 03-08-2014 Through 06-08-2014",
}