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Proceedings Paper

Multifunctional electroelastomer roll actuators and their application for biomimetic walking robots
Author(s): Qibing Pei; Marcus A. Rosenthal; Ron Pelrine; Scott Stanford; Roy D. Kornbluh
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Paper Abstract

Dielectric elastomer artificial muscles (electroelastomers) have been shown to exhibit excellent performance in a variety of actuator configurations. By rolling highly prestrained electroelastomer films onto a central compression spring, we have demonstrated multifunctional electroelastomer rolls (MERs) that combine load bearing, actuation, and sensing functions. The rolls are compact, have a potentially high electroelastomer-to-structure weight ratio, and can be configured to actuate in several ways including axial extension and bending, and as multiple degree-of-freedom (DOF) actuators that combine both extension and bending. 1-DOF, 2-DOF, and 3-DOF MERs have all been demonstrated through suitable electrode patterning on a single monolithic substrate. The bending MER actuators can act as leg and knee joints to produce biomimetic walking that is adaptable to many environments. Results of animation and the fabrications of a robot model of a synthetic bug or animal based on the MERs are presented. A new concept for an antagonist actuator for more precise control is introduced.

Paper Details

Date Published: 28 July 2003
PDF: 10 pages
Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003); doi: 10.1117/12.484392
Show Author Affiliations
Qibing Pei, SRI International (United States)
Marcus A. Rosenthal, SRI International (United States)
Ron Pelrine, SRI International (United States)
Scott Stanford, SRI International (United States)
Roy D. Kornbluh, SRI International (United States)

Published in SPIE Proceedings Vol. 5051:
Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

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