{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/44228"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/44228","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design of flexible actuators using electro-active polymers and CPG-based control strategies","abstract":"Biomimetic design based on inspiration from nature for solutions for engineering problems has 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 able to 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 such biomimetic systems are compliant and lightweight robotic arms for tightly constrained spaces and 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 actuators and 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 are studied. Finally, octopus based control using Central Pattern Generators (CPGs) is brie y discussed.","abstract_html":"Biomimetic design based on inspiration from nature for solutions for engineering problems has 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 able to 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 such biomimetic systems are compliant and lightweight robotic arms for tightly constrained spaces and 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 actuators and 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 are studied. Finally, octopus based control using Central Pattern Generators (CPGs) is brie y discussed.","abstract_has_math":false,"creators":["Sanghi, Nitish"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Chung, Soon-Jo"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2013,"date_issued":"2013-05-24T21:54:50Z","date_published":"2013-05-24T21:54:50Z","updated_at":"2026-07-22T22:25:33Z","subjects":["Electro-active polymer (EAP)","Central Pattern Generator (CPG)","Dielectric Electro-active polymer (DE EAP)"],"languages":["en"],"rights":["Copyright 2013 Nitish Sanghi"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/44228","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Chung, Soon-Jo"]},{"key":"dc:creator","label":"Author","values":["Sanghi, Nitish"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2013-05-24T21:54:50Z","2013-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electro-active polymer (EAP)","Central Pattern Generator (CPG)","Dielectric Electro-active polymer (DE EAP)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2013 Nitish Sanghi"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/44228"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Biomimetic design based on inspiration from nature for solutions for engineering problems has been practiced throughout human history. 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The condition for phase synchronization of coupled single chain oscil-lators is derived and various techniques for pattern generation using oscillator network are studied. Finally, octopus based control using Central Pattern Generators (CPGs) is brie y discussed.","Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-04-23T13:22:56Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Sanghi_Nitish.pdf: 2437474 bytes, checksum: a10211d84d712cbf4e58a1ef1c2afe99 (MD5)","Made available in DSpace on 2013-05-24T21:54:50Z (GMT). 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Two key applications of such biomimetic systems are compliant and lightweight robotic arms for tightly constrained spaces and 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 actuators and 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 are studied. 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