NDLI: Inverse kinematics of gel robots made of electro-active polymer gel

Content Provider	IEEE Xplore Digital Library
Author	Otake, M. Kagami, Y. Kuniyoshi, Y. Inaba, M. Inoue, H.
Copyright Year	2002
Description	Author affiliation: Dept. of Mechano-Informatics, Univ. of Tokyo, Japan (Otake, M.)
Abstract	This paper proposes an inverse kinematic model for deformable robots made entirely of electro-active polymer gel. The required method is to control a higher degrees of freedom than numbers of input. We (2000, 2001) have been proposed a kinematic and dynamic model of electro-active polymer system and derived a variety of motions of gel robots by applying spatially varying electric fields. However, inverse kinematic model and the method of applying time alternating electric fields have not been investigated. We challenge the tip control of gel manipulator by applying spatially uniform but time varying electric field. We show the procedure to control the tip position of a gel manipulator by dynamically and slightly changing its whole configuration. Our work is a first step towards the shape control of gel robots.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	3224
Ending Page	3229
File Size	603537
Page Count	6
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1013723
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Robots Polymer gels Shape control Prototypes Electrodes Manipulator dynamics Design methodology Three dimensional displays Biological materials
Content Type	Text
Resource Type	Article

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