@INPROCEEDINGS{mjdotis2003EMBS,
		title = {Development of an Hexapod BioMicRorobot with Nafion-Pt IPMC Microlegs},
		booktitle = {International Conference of the IEEE Engineering in Medicine and Biology},
		author = {Otis, Martin and Bernier, R. and Pasco, Y. and Menard, H. and Semmaoui, H. and Jarry, M. and Fontaine, R.},
		volume = {4},
		year = {2003},
		month = sep,
		pages = {3423 - 3426},
		issn = {0589-1019},
		location = {Cancun, Mexico},
		abstract = {This paper presents an artificial locomotion servo-system for an insect like hexapod BioMicroRobot (BMR). This servo-system, programmed with VHDL code, will act as a driver in a RISC architecture microcontroller to reproduce insect tripod walking. An overview of the robot control system, in accordance with the insect displacement principle, is demonstrated with timing parameters. A control algorithm of the six legs driving the robot in any direction versus Pulse Width Modulation (PWM) is reviewed. BMR microlegs are built with cylindrical Nafion-Pt lonomeric Polymer-Metal Composite (IPMC) that have 2.5 degrees of freedom. Specific fabrication process for one leg is exposed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. BMR current consumption is an important parameter evaluated for each leg. Hardware test bench to acquired measurement is presented. The purpose of this design is to control a BMR for biomedical goals like implantation in human body. Experimental results on the proposed legs are conclusive for this type of bioinspired BMR.},
		url = {http://dx.doi.org/10.1109/IEMBS.2003.1280881},
}

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