The Study Of Finger Vein Recognition Methods

In this paper, we present a novel underwater bionic micro robot which has eight legs. The micro robot is driven by the ICPF (Ionic Conducting Polymer Film) actuator which is soft and bends without noise, responds quickly, work underwater and has the low driving voltage, simple and reliable structure compare to the traditional micro motors, and the micro robot has a promising development trend and application potential in the future military because of the features of non-pollution, non-noise, high concealment, as well as not easy to be detected.First, this paper summarizes the development of walking robots driven by the traditional micro motors and walking robots driven by the novel actuator.Second, from the imitation of walking organization of underwater crawling biology, such as Shrimp and crab, we design the total structure and leg of the underwater micro robot. Then we discuss the method of describing the endpoint kinematic trajectory of ICPF under the control signal of the square wave pulse using curvature radius of ICPF actuator. Moreover, we design the control system of the micro robot which has eight legs and driven by the ICPF actuators, including the open-loop control mode with external wired control signal, the hardware and software of the control system which can produce 16 different control signals.Third, we set up the experiment platform to test the material characteristic of ICPF, and measure the impact of different driving voltage and frequency of square wave pulse on the movement of ICPF actuator. This paper suggests the main methods for found and solve the endpoint kinematic trajectory equation of leg which is made up of two pieces of ICPF actuator, and advance several representative control signal of one leg, depict and analyze the endpoint kinematic trajectory of leg under the representative control signal, and further study the influence of voltage and phase difference to the endpoint kinematic trajectory of leg. At last, according to the actual condition of the designed walking micro robot, we suggest the control method of periodic gait imitating the CPG(Central Pattern Generator, CPG) mode, analyze the gait principle of quiescent stable condition, advance the coordinated control method of walking micro robot to carry out the movement of translation and rotation, and experimental result indicate that the gait above is feasible, and measure the moving speed of translation and angular speed of the walking micro robot.