Control of Biped Walking Robot with IPMC Linear Actuator

Abstract

We developed an artificial muscle linear actuator using ionic polymer-metal composite (IPMC) which is an electro-active polymer (EAP) that bends in response to electric stimuli. In this paper, we consider control of a small-sized biped walking robot. It is shown throughout the simulations the biped robot with IPMC linear actuators can walk by a simple input synchronization to motion of the robot and a feedback control. We also investigate a re-doping effects that is change of the characteristics by ionic re-doping chemically. Furthermore, a preliminary walking experiment is conducted. Index Terms— IPMC, EAP, Soft actuator, Biped walking robot.