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Proceedings Paper

Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers
Author(s): Jason Newton; Jeffrey Morton; Jonathan Clark; William S. Oates
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Paper Abstract

A new robotic leg design is presented that utilizes dielectric elastomers (3M VHB 4910) to rapidly control stiffness changes for enhanced mobility and agility of a field demonstrated hexapod robot. A set of electromechanical test are utilized to obtain up to 92% reduction in stiffness that is controlled by an electric field. The results are compared to a finite deformation membrane finite element model to understand and improve field driven stiffness changes for real-time robotic applications.

Paper Details

Date Published: 3 April 2012
PDF: 12 pages
Proc. SPIE 8340, Electroactive Polymer Actuators and Devices (EAPAD) 2012, 83400Z (3 April 2012); doi: 10.1117/12.919870
Show Author Affiliations
Jason Newton, Florida State Univ. (United States)
Jeffrey Morton, Florida State Univ. (United States)
Jonathan Clark, Florida State Univ. (United States)
William S. Oates, Florida State Univ. (United States)

Published in SPIE Proceedings Vol. 8340:
Electroactive Polymer Actuators and Devices (EAPAD) 2012
Yoseph Bar-Cohen, Editor(s)

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