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2004
Springer

Wave-shape pattern control of electroactive polymer gel robots

10 years 1 months ago
Wave-shape pattern control of electroactive polymer gel robots
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.
Mihoko Otake, Yoshihiko Nakamura, Masayuki Inaba,
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Mihoko Otake, Yoshihiko Nakamura, Masayuki Inaba, Hirochika Inoue
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