Development of an oscillating fin type actuator for underwater robots

Abstract

We are focusing our attention on bio-inspired technologies and have been developing an oscillating fin type actuator for underwater robots using artificial muscles. Our research aims at the development of a fin type actuator imitating mechanisms of underwater creatures by using an electroconductive polymer as the driving source/s. We expect that this actuator takes the place of a screw propeller for missions that need precise and silent control. In this paper, we introduce the concept of the development of the actuator and the results of the performance evaluation test of the developed electroconductive polymer.