Chemical robot - Design of self-walking gel

Shingo Maeda, Yusuke Hara, Ryo Yoshida, Shuji Hashimoto

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

Stimuli-responsive polymers and gels have been applied to biomimetie actuators or artificial muscles. Biomimetic robots using such materials can move like a living creature. Especially, electroactive polymers are said to be promising materials as advanced soft actuators. Its mechanical motion is controlled by external stimuli such as a change in solvent composition, pH, temperature and electric field etc. On the other hand, many living organisms generate an autonomous motion without external driving stimuli. In this paper, we report a novel biomimetic gel actuator that can bend and stretch with worm-like motion spontaneously without external driving stimuli. The gel actuator converts the chemical energy of oscillating reaction, i.e., the Belouzov-Zhabotinsky (BZ) reaction into the kinetic energy inside the gel. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it is alive. To cause anisotropic contraction with curvature changes, the gel strip with gradient structure was prepared. Furthermore, the gel can walk with repeated bending and stretching motion by itself like a looper by coupling with ratchet mechanism. The "self-walking" gel actuator will create a new framework of biomimetic chemical robot.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ページ2150-2155
ページ数6
DOI
出版ステータスPublished - 2007 12 1
外部発表はい
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
国/地域United States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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