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|Title:||DESIGN, DEVELOPMENT AND CONTROL OF SOFT ROBOTS BASED ON DIELECTRIC ELASTOMERS ACTUATORS||Authors:||CAO JIAWEI||ORCID iD:||orcid.org/0000-0003-3920-7458||Keywords:||soft robots, dielectric elastomer actuators, modelling, control, bio-inspiration, antagonism||Issue Date:||20-Aug-2018||Citation:||CAO JIAWEI (2018-08-20). DESIGN, DEVELOPMENT AND CONTROL OF SOFT ROBOTS BASED ON DIELECTRIC ELASTOMERS ACTUATORS. ScholarBank@NUS Repository.||Abstract:||This thesis focuses on the development and control of soft robots based on dielectric elastomer actuators (DEAs). A novel soft crawling robot based on DEAs is first designed and developed to achieve untethered stable locomotion. Based on the developed robotic platform, a model-based control scheme is then proposed to ensure robust performances of the soft crawling robot in different environments. To further address the control challenges of DEAs, a bioinspired approach motivated by the similarities between DEAs and natural muscles is introduced with fast learning ability, strong robustness and no need of external sensors. Finally, moving from a single DEA to multiple DEAs, the coordination control of using antagonistic DEAs is studied for improving the performance of DEAs operated in high speed and/or large deformation scenarios. This thesis makes contributions moving DEA-based soft robots a step forward towards more capability and intelligence.||URI:||http://scholarbank.nus.edu.sg/handle/10635/148783|
|Appears in Collections:||Ph.D Theses (Open)|
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