Robotic earthworm using electro-conjugate fluid

Issue title: Selected Papers from the 14th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2009), Part II

Article type: Research Article

Authors: Tokida, Kenichiro^a | Takemura, Kenjiro^a | Yokota, Shinichi^b | Edamura, Kazuya^c

Affiliations: [a] Department Mech. Engineering Keio University, 3-14-1, Hiyoshi, Kohoku-ku, Yokohama, 223-8522, Japan | [b] P&I Laboratory Tokyo Institute Technology 4259-R2-41, Nagatsutacho, Midori-ku, Yokohama, 226-8503, Japan | [c] New Tech. Manag., 2-9-1-306, Higashi-shinkoiwa, Katsushika-ku, Tokyo, 124-0023, Japan

Abstract: This study develops a novel robotic earthworm using electro-conjugate fluid (ECF), which generates a jet flow with high DC voltage. The robot, inside of which is filled up with ECF, has two ECF jet generators sandwiched with three flexible silicone rubber tubes (all components are located in series). When applying an appropriate electrical input to each jet generator, the robot generates a peristaltic motion, which may push the body forward. The robot is 60 mm long with the diameter of 6 mm. The experimental results confirm the robot moves in a � 6.5 mm acrylic resin pipe with 0.13 mm/s.

DOI: 10.3233/JAE-2010-1296

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 33, no. 3-4, pp. 1643-1651, 2010