Research on Motion Control of Bionic Mimosas based on IPMC Driving

Biomimetic soft robot is based on the animals and plants in nature. It can sense and take certain measures to respond appropriately after analyzing, processing and judging the information which comes from the external environment. At the same time, the soft robot also can continuously transform itself. However, the integration of sensing and driving control in this field has rarely been researched, which limited the improvement of soft robot's performance. The biomimetic mimosas robot was completed in this paper. Combined with the electrical response characteristics of the electroactive materials--ionic polymer metal composites (IPMC), the kinematic path of the biomimetic mimosa soft robot was simulated by using simplified assumptions. By analyzing the sensing and driving characteristics of mimosa, the integration of the sensing and driving of soft robot was be realized, which satisfied the ability of continuous deformation and intelligent control of soft robot.