A biomimetic undulatory tadpole robot using ionic polymer–metal composite actuators

TLDR

The study presents a wireless undulatory tadpole robot that uses ionic polymer–metal composite actuators and biomimetic fin tail motion to enhance thrust. The 96 mm long, 24 mm wide, 25 mm thick prototype features a single IPMC‑driven polymer fin tail, an internal wireless power source, an embedded controller, and its motion is regulated by adjusting the input voltage’s frequency and duty cycle. Experiments demonstrate that this design allows precise control of the robot’s steering and swimming speed.

Abstract

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 tail 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.