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Bar-Cohen : Biomimetics: Biologically Inspired Technologies DK3163_c010 Final Proof page 281 21.9.2005 11:46am

Artificial Muscles Using EAP 281

Figure 10.10 (See color insert following page 302) Four-finger EAP gripper lifting a rock.

missions to such planets as Mars. Such robots include the Limbed Excursion Mobile Utility Robot
(LEMUR) shown in Figure 10.11. These robots are still mobilized by conventional motors. In
contrast, the use of EAP can lead to capabilities that are identified as biomimetic including running
on complex terrains at the speed of a horse or even a Cheetah.
Such robots would potentially be mobile in complex terrains, acquire and analyze samples, and
perform many other functions that are attributed to legged animals including grasping and object
manipulation. This evolution may potentially lead to the use of life-like robots in future NASA
missions that involve landing on various planets. Equipped with multi-functional tools and multiple
cameras, the LEMUR robots are intended to inspect and maintain installations beyond humanity’s
easy reach in space. This spider-like robot has six legs, each of which has interchangeable end-
effectors to perform the required mission. The radially symmetric layout is a lot like a starfish or
octopus, and it has a panning camera system that allows omni-directional movement and manipu-
lation operations.
The possibility of making an aircraft that flaps its wing as a bird was recently envisioned by
(Colozza et al., 2004) who conceived a flying machine that uses EAP as an actuator supported by
polymeric solar cells on the wings. This solid state aircraft does not use any conventional moving
parts, where the airfoil, propulsion, energy production, energy storage, and control are integrated
into the structure (Figure 10.12). For the purpose of producing the required bending deformation at
low voltage, IPMC-based wings were considered for the development of the concept of Solid State
Aircraft. Using a flight profile similar to a hawk or eagle, the conceived aircraft can potentially soar
for long periods of time and utilize flapping to regain lost altitude. By analyzing the glide and flap
durations, wing length, and distance of travel, it has been determined that a number of design
configurations can be produced to enable flight over a range of latitudes and times of the year
on Earth, Venus, and possibly Mars. The implementation of this capability will require significant
advances in the development of IPMC towards producing significantly higher energy efficient
actuators.