Robots biped walking

Yamakita, M., Kamamichi, N., Kozuki, T., Asaka, K. and Luo, Z. (2005). Control of biped walking robot with IPMC linear actuator, in Proceedings of the lEEE/ASME International Conference on Advanced Intelligent Mecha-tronics (Monterey, CA), pp. 48-53. 

Figure 6.21 Model of a biped walking robot using the IPMC linear actuator (Reprinted with permission from Yamakita, M. et al., Robotic Application of IPMC Actuators with Redoping Capability in Electroactive Polymers for Robotic Applications (eds Kim, K. J. and Tadokoro, S.), 199-225. Copyright (2007) Springer).

As shown in the chapter on the fundamentals of this technology, the bending characteristics of the IPMC actuator depend on the counter cation in the ionic polymCT. Yamakita et al. developed the application of the IPMC hnear actuator to a biped walking robot (Figure 6.21) and optimized the performanee of the aetuator by selecting the coimter cation in the ionic polymer. 

Compared with the fishlike robots, other types of biomimetie robots are not so much reported. Some walking robots are studied, such as biped, quadruped, and multilegged robots. 

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