Electroactive Polymer Gel Robots [electronic resource] : Modelling and Control of Artifical Muscles / by Mihoko Otake.Material type: TextLanguage: English Series: Springer Tracts in Advanced Robotics: 59Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2010Description: online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9783540447054Subject(s): Engineering | Polymers | Artificial intelligence | Systems theory | Control engineering systems | Biomedical engineering | Engineering | Control , Robotics, Mechatronics | Polymer Sciences | Artificial Intelligence (incl. Robotics) | Systems Theory, Control | Biomedical EngineeringAdditional physical formats: Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ210.2-211.495TJ163.12Online resources: Click here to access online
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.
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.