Development of novel self-oscillating gel actuator for achievement of chemical robot

Satoshi Nakamaru, Shingo Maeda, Yusuke Hara, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    15 Citations (Scopus)

    Abstract

    In our previous studies, we succeeded in construction self-oscillating gel actuator such as a self-walking gel and a dynamic motion of a gel actuator. However, the speed of the swelling - deswelling self-oscillation is too slow in order to realize practical chemical robot. In this study, we succeeded in the wide-range control of the period for the swelling - deswelling self-oscillation of a novel polymer gel by selection of the initial concentration of the Belouzov-Zhabotinsky (BZ) substrates and the temperature. The novel polymer gel was composed of a non-thermoresponsive and biocompatible poly-vinylpyrrolidone (PVP) main chain covalently-bonded to the ruthenium catalyst for the BZ reaction. Moreover, we clarified the influence of the initial concentration of the BZ substrates and the temperature on the period and the self-oscillating behavior. By optimizing the initial concentration of the BZ substrates, we cause the swelling - deswelling self-oscillation in 0.5 Hz. The maximum frequency (0.5Hz) of the novel gel was 20 times higher than that of the conventional-type self-oscillating gel. Moreover, we showed that the displacement of the self-oscillation for the gel has a trade-off relationship against the frequency of the self-oscillation.

    Original languageEnglish
    Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Pages4319-4324
    Number of pages6
    DOIs
    Publication statusPublished - 2009 Dec 11
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    Duration: 2009 Oct 112009 Oct 15

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CitySt. Louis, MO
    Period09/10/1109/10/15

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Human-Computer Interaction
    • Control and Systems Engineering

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  • Cite this

    Nakamaru, S., Maeda, S., Hara, Y., & Hashimoto, S. (2009). Development of novel self-oscillating gel actuator for achievement of chemical robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4319-4324). [5354649] https://doi.org/10.1109/IROS.2009.5354649