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A biomimetic undulatory tadpole robot using ionic polymer–metal composite actuators

The development of a wireless undulatory tadpole robot using ionic polymer–metal composite (IPMC) actuators is presented. In order to improve the thrust of the tadpole robot, a biomimetic undulatory motion of the fin tail is implemented. The overall size of the underwater microrobot prototype, shaped as a tadpole, is 96 mm in length, 24 mm in width, and 25 mm in thickness. It has one polymer fin tail driven by the cast IPMC actuator, an internal (wireless) power source, and an embedded controller. The motion of the tadpole microrobot is controlled by changing the frequency and duty ratio of the input voltage. Experimental results show that this technique can accurately control the steering and swimming speed of the proposed underwater tadpole robot.