Title :
Kinematics of gel robots made of electro-active polymer PAMPS gel
Author :
Otake, Mihoko ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
Introduces and describes a kinematic model based on a chemical reaction to control robots made of soft materials, poly (2-acrylamido-2-methylpropane sulfonic acid) gel (PAMPS gel). Experiments were conducted using a prototype mechanism whose energy is supplied by applying an electric field in a surfactant solution. We have verified the validity of our model by comparing the experimental and simulation results obtained by bending a flexible strip of PAMPS gel under a uniform electric field
Keywords :
gels; polymers; robot kinematics; electro-active polymer PAMPS gel; gel robots; soft materials; surfactant solution; uniform electric field; Actuators; Chemicals; Conducting materials; Kinematics; Muscles; Polymer gels; Prototypes; Robot control; Robot sensing systems; Shape control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844102
