Biomimetic Underwater Robots Based on Dielectric Elastomer Actuators

Dielectric elastomer actuators (DEAs), a soft actuator technology, hold great promise for biomimetic underwater robots. The high-voltages required to drive DEAs can however make them challenging to use in water. This paper demonstrates a method to create DEA-based biomimetic swimming robots that operate reliably even in conductive liquids. We ensure the insulation of the high-voltage DEA electrodes without degrading actuation performance by laminating silicone layers. A fish and a jellyfish were fabricated and tested in water. The fish robot has a length of 120 mm and a mass of 3.8 g. The jellyfish robot has a 61 mm diameter for a mass of 2.6 g. The measured swimming speeds for a periodic 3 kV drive voltage were 8 mm/s for the fish robot, and 1.5 mm/s for the jellyfish robot.


Published in:
2016 Ieee/Rsj International Conference On Intelligent Robots And Systems (Iros 2016), 4957-4962
Presented at:
IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14
Year:
2016
Publisher:
New York, Ieee
ISBN:
978-1-5090-3762-9
Keywords:
Laboratories:




 Record created 2016-10-27, last modified 2019-03-17

Preprint:
Download fulltextPDF
Video to show swimming of the robots.:
Download fulltextMP4
Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)