2026-09-19T16:04:13Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/44228 2023-07-11 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Chung, Soon-Jo Sanghi, Nitish 2013-05-24T21:54:50Z 2013-05-24T21:54:50Z 2013-05 2013-05-24T21:54:50Z 2013-05 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. Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2013-04-23T13:22:56Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: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). No. of bitstreams: 2 Nitish_Sanghi.pdf: 2437468 bytes, checksum: 41a55a97e2357a4521fd20e3da1eed04 (MD5) license.txt: 4063 bytes, checksum: 7908ec7e8e8702581723d303869aa43b (MD5) http://hdl.handle.net/2142/44228 en Copyright 2013 Nitish Sanghi Electro-active polymer (EAP) Central Pattern Generator (CPG) Dielectric Electro-active polymer (DE EAP) Design of flexible actuators using electro-active polymers and CPG-based control strategies text Mechanical Sci & Engineering 1917 Mechanical Engineering 0133 University of Illinois at Urbana-Champaign Thesis M.S. MS:Mechanical Engineerng -UIUC 10KS0133MS