Wave-shape pattern control of electroactive polymer gel robots

  • Mihoko Otake
  • Yoshihiko Nakamura
  • Masayuki Inaba
  • Hirochika Inoue
III. Identification and Control
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

Abstract

Abstract. This paper proposes wave-shape pattern control method for whole-body deformable robots containing electroactive polymers. Mechanisms consisting of a typical electroactive polymer gel containing poly 2 -acrylamido -2- methylpropane sulfonic acid (PAMPS), named ‘gel robots’, have been designed, developed, and controlled experimentally. We faced a common problem called, the degrees-of-freedom problem, namely controlling many points on the gel surface with a small number of inputs. In order to solve the problem, we once reduced the number of inputs to one, and discovered that wave-shape pattern evolves for the beam-shaped gel even in a constant uniform electric field. This method makes use of the pattern formation. Wave-shaped gels with varying curvature are obtained by switching the polarity of a spatially uniform electric field. The method is verified through experiments which are carefully designed based on numerical simulations.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mihoko Otake
    • 1
  • Yoshihiko Nakamura
    • 1
  • Masayuki Inaba
    • 1
  • Hirochika Inoue
    • 1
  1. 1.Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656Japan

Personalised recommendations