Kim, B Kim, DH Jung, JH Park, JO 2024-01-21T04:05:45Z 2024-01-21T04:05:45Z 2021-09-02 2005-12 0964-1726 https://pubs.kist.re.kr/handle/201004/135972 The development of a wireless undulatory tadpole robot using ionic polymer-metal composite (IPMC) actuators is presented. In order to improve the thrust of the tadpole robot, a biomimetic undulatory motion of the fin tall is implemented. The overall size of the underwater microrobot prototype, shaped as a tadpole, is 96 mm in length, 24 mm in width, and 25 mm in thickness. It has one polymer fin tail driven by the cast IPMC actuator. an internal (wireless) power source, and an embedded controller. The motion of the tadpole microrobot is controlled by changing the frequency and duty ratio of the input voltage. Experimental results show that this technique can accurately control the steering and swimming speed of the proposed underwater tadpole robot. English IOP PUBLISHING LTD A biomimetic undulatory tadpole robot using ionic polymer-metal composite actuators Article 10.1088/0964-1726/14/6/051 1 SMART MATERIALS AND STRUCTURES, v.14, no.6, pp.1579 - 1585 SMART MATERIALS AND STRUCTURES 14 6 1579 1585 scie scopus 000234246900051 2-s2.0-28344446949 Instruments & Instrumentation Materials Science, Multidisciplinary Instruments & Instrumentation Materials Science Article