Electroactive Polymer Gel Robots Modelling and Control of Artifical Muscles /

• Main Author: Otake, Mihoko (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010.
• Series: Springer Tracts in Advanced Robotics, 59
• Subjects: Engineering.; Polymers.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Biomedical engineering.; Robotics and Automation.; Control, Robotics, Mechatronics.; Polymer Sciences.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.; Biomedical Engineering.

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 spa...

Table of Contents:

• I: Modelling
• Adsorption-Induced Deformation Model of Electroactive Polymer Gel
• Parameter Identification by One Point Observation
• II: Design
• Interaction-Based Design of Deformable Machines
• Spatially-Varying Electric Field Design by Planer Electrodes
• Shape Design through Geometric Variation
• III: Control
• Polarity Reversal Method for Shape Control
• Lumped-Driven Method for Motion Control
• Conclusion and Future Works.