Abstract
Precise motion control without mechanical noises is a technical issue on the operations of research vessels and underwater vehicles in order to observe creatures in actual. As a solution for the problem, we pay attentions to bio-mechanisms of underwater creatures, especially undulately fins being used for attitude control. Bio-mechanisms of creatures are adapted to environment as a result of evolution. If the motor control mechanisms of the creatures can be introduced into underwater robots, there is a possibility to realize a high performance actuator. In this research, we have been trying to develop a fin actuator using an electroconductive polymer as an artificial muscle. In this paper, we describe a method of fabrication for bimorph actuator and the results of performance evaluation, and the developing fin actuator.
