Electroactive Polymer Gel Robots

Modelling and Control of Artifical Muscles

  • Mihoko¬†Otake

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 59)

Table of contents

  1. Front Matter
  2. Introduction

    1. Mihoko Otake
      Pages 1-15
  3. Part I: Modelling

  4. Part II: Design

    1. Front Matter
      Pages 61-61
    2. Mihoko Otake
      Pages 117-134
  5. Part III: Control

    1. Front Matter
      Pages 135-135
    2. Mihoko Otake
      Pages 137-164
    3. Mihoko Otake
      Pages 165-199
    4. Mihoko Otake
      Pages 201-216
  6. Back Matter

About this book


The monograph written by Mihoko Otake combines ideas from chemistry and physics, material science and engineering for the revolutionary development of the so-called gel robots. Electroactive polymers are introduced to build new types of muscular-like actuation for deformable robots. The coverage spans from modelling and design to the development, control and experimental testing. A number of methods are proposed for describing the shapes and motions of such systems. The results are demonstrated for beam-shaped gels curling around an object and starfish-shaped gel robots turning over.


Design of Deformable Machines Modelling of Functional Materials Motion Control Polymer Polymer Gel Shape Control robot

Authors and affiliations

  • Mihoko¬†Otake
    • 1
  1. 1.Research into Artifacts, Center for EngineeringUniversity of TokyoKashiwa-shiJapan

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2010
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-23955-0
  • Online ISBN 978-3-540-44705-4
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site