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Electroactive Polymer Gel Robots

Modelling and Control of Artificial Muscles

  • Book
  • © 2010

Overview

Authors:
  1. Mihoko Otake

    1. Research into Artifacts, Center for Engineering, University of Tokyo, Kashiwa-shi, Japan

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  • Explores fundamental methods for deformable robots consisting of electroactive polymer, promising materials for artificial muscles
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 59)

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Table of contents (9 chapters)

  1. Front Matter

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  2. Introduction

    1. Introduction

      • Mihoko Otake
      Pages 1-15

  3. Part I: Modelling

    1. Front Matter

      Pages 17-17
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    2. Adsorption-Induced Deformation Model of Electroactive Polymer Gel

      • Mihoko Otake
      Pages 19-33

    3. Parameter Identification by One Point Observation

      • Mihoko Otake
      Pages 35-60

  4. Part II: Design

    1. Front Matter

      Pages 61-61
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    2. Interaction-Based Design of Deformable Machines

      • Mihoko Otake
      Pages 63-76

    3. Spatially-Varying Electric Field Design by Planer Electrodes

      • Mihoko Otake
      Pages 77-116

    4. Shape Design through Geometric Variation

      • Mihoko Otake
      Pages 117-134

  5. Part III: Control

    1. Front Matter

      Pages 135-135
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    2. Polarity Reversal Method for Shape Control

      • Mihoko Otake
      Pages 137-164

    3. Lumped-Driven Method for Motion Control

      • Mihoko Otake
      Pages 165-199

    4. Conclusion and Future Works

      • Mihoko Otake
      Pages 201-216

  6. Back Matter

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Keywords

About this book

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse research areas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Reviews

From the reviews:

“The main focus of this book is to propose methods for deriving a variety of shapes and motions of such machines, using a particular ElectroActive Polymer gel (EAP). … This book is the first comprehensive monograph in the world on deformable robots utilizing electroactive polymers with full of original simulation and experimental results.” (George S. Stavrakakis, Zentralblatt MATH, Vol. 1190, 2010)

Authors and Affiliations

  • Research into Artifacts, Center for Engineering, University of Tokyo, Kashiwa-shi, Japan

    Mihoko Otake

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