Application of the Lumped-Driven Methods

1 Turning over Motion Control of Starfish-Shaped Gel Robots 

the results in 2D space for beam-shaped gels are extended to apply for starfish-shaped gel robots in 3D space. The major difference between problems 

Experiment 8.3. Turning over motion generation of starfish-shaped gel 

The experimental protocol is as follows. Initially, starfish gel robot is placed below the electrode whose applied voltage is -E. The adjoining electrodes along the diagonal direction or column direction are also applied voltage -E, and other electrodes are applied voltage E. Secondly, the first operator was switched to the second operator, when orientation of the tip of the ray became vertical to the ground. 

The process to solve other motion generation problems is described, to make clear a procedure to apply proposed methods to other problems, and to prove the effectiveness of the methods. The curling around an object was selected as typical example. This is because deformable machines should be good at manipulating an object without damaging by its nature. The problem is only how we realize it. The two-dimensional system and beam-shaped gel with fixing point placed below the array of electrodes were selected. Since the operators are already arranged, we start from the second step. 

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