DESIGN, DEVELOPMENT AND CONTROL OF SOFT ROBOTS BASED ON DIELECTRIC ELASTOMERS ACTUATORS

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.