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In this paper, to deal with the locomotion in underwater environment, we designed a novel type of leg, inspired by stick insect legs. The biomimetic leg is composed of two segments of ICPF (ionic conducting polymer film) actuators with a 2-DOF motion. It has simple structure, simple control method, and good localization characteristic. We designed and developed a prototype microrobot with 3 units...
In this paper, to realize an efficient locomotion in submarine environment, we designed a mechanical structure, inspired by the leg of stick insects. The structure of a biomimetic leg is made of two pieces of ICPF (ionic conducting polymer film) actuators. A microrobot with three units of the legs has been designed and carried out. We have analyzed the three kinds of motions, the walking, floating...
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