Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/148783
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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