Spatially-Varying Electric Field Design by Planer Electrodes

In order to control gel robots, estimates of the set of possible transformations that result from actuation are needed. The model was proposed which describes the deformation process of the gel in chapter 2, and identified model parameters in chapter 3. The model supposes that the state of the gel is calculated from the local interactions between the gel and the molecules driven by the electric field. Since the chemical reaction is located on the surface of the gel, we need 

This chapter was adapted from in part, by permission, M. Otake, M. Inaba, and H. Inoue. Development of Electric Environment to control Mollusk-Shaped Gel Robots made of Electro-Active Polymer PAMPS Gel , Proceedings of SPIE vol.3987 Electroactive Polymer Actuators and Devices (EAPAD) Y. Bar-Cohen (ed.), pp.321-330, 2000 M. Otake, Y. Kagami, M. Inaba, and H. Inoue, Dynamics of Gel Robots made of Electro-Active Polymer Gel , Proceedings of IEEE International Conference on Robotics and Automation, pp.1458-1462, 2001 M. Otake, Y. Kagami, M. Inaba, and H. Inoue, Motion design of a starfish-shaped gel robot made of electro-active polymer gel . Robotics and Autonomous Systems, vol. 40, pp. 185-191, 2002. 

Otake Electroactive Polymer Gel Robots, STAR 59, pp. 77—116. springerlink.com (c) Springer-Verlag Berlin Heidelberg 2010 

5 Spatially-Vaiying Electric Field Design by Planer Electrodes 

The developed system of this chapter is utilized in the next chapter. The system provides fundamental environment to study motion control of deformable machines, which is studied in chapter 8. 

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