Design of flexible actuators using electro-active polymers and CPG-based control strategies

Electro-active polymer (EAP);Central Pattern Generator (CPG);Dielectric Electro-active polymer (DE EAP)

Sanghi, Nitish ; Chung ; Soon-Jo

关键词: Electro-active polymer (EAP);    Central Pattern Generator (CPG);    Dielectric Electro-active polymer (DE EAP);   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/44228/Nitish_Sanghi.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

Biomimetic design based on inspiration from nature for solutions for engineering problemshas been practiced throughout human history. Invertebrate animals without a skeletal struc-ture have exible, robust and agile movements. For example, the octopus arm which is ableto grip objects by exerting large forces, moves with a wide range of velocities, and manip-ulates delicate objects, without any rigid skeletal elements. Two key applications of suchbiomimetic systems are compliant and lightweight robotic arms for tightly constrained spacesand energy-e cient muscle actuators for biomimetic locomotion.Inspired by octopus arm, in this thesis we investiagte di erent design concepts and require-ments for using dielectric electroactive polymers (EAP) for designing of exible actuatorsand manipulators. A model-guided approach to design a bio-inspired exible actuator mod-ule is presented analyzed. Further, mathematical modelling for Central Pattern Generators(CPGs) is presented. The condition for phase synchronization of coupled single chain oscil-lators is derived and various techniques for pattern generation using oscillator network arestudied. Finally, octopus based control using Central Pattern Generators (CPGs) is brieydiscussed.