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

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2013

Author dc:creator

• Sanghi, Nitish

Contributors dc:contributor

• Chung, Soon-Jo

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

Statement dc:rights

• Copyright 2013 Nitish Sanghi

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/44228

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/44228