Walking Robot with Propulsors Based on IPMC Actuators

The goal of this work was to investigate the possibility of using an ionic polymer-metal composite actuator (IPMC-actuator) as the main element of a motion drive for a walking robotic system. An actuator module was developed, which consists of two actuators connected in parallel and allowing a "leg" of the robotic system to move in two planes. Due to the use of an IMPC-actuator it was possible to develop a robotic system with dimensions of 118x114x62.4 mm, moving at a speed of 1 mm/s with a step of 33 mm and a mass of 70 g.