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Title:Design of flexible actuators using electro-active polymers and CPG-based control strategies
Author(s):Sanghi, Nitish
Advisor(s):Chung, Soon-Jo
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Electro-active polymer (EAP)
Central Pattern Generator (CPG)
Dielectric Electro-active polymer (DE EAP)
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.
Issue Date:2013-05-24
Rights Information:Copyright 2013 Nitish Sanghi
Date Available in IDEALS:2013-05-24
Date Deposited:2013-05

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