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

Satoshi Nakamaru*, Shingo Maeda, Yusuke Hara, Shuji Hashimoto

*この研究の対応する著者

    研究成果

    17 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    ページ4319-4324
    ページ数6
    DOI
    出版ステータスPublished - 2009 12 11
    イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    継続期間: 2009 10 112009 10 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

    • 人工知能
    • コンピュータ ビジョンおよびパターン認識
    • 人間とコンピュータの相互作用
    • 制御およびシステム工学

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