Tip Position Control of Gel Manipulators

Tip Position Control of Gel Manipulators Experiment 7.1. Tip position control of gel manipulators... 

The purpose of this section is to propose an inverse kinematics method which could ultimately be used to control the shape of the gel robot such as tentacle control of octopus-shaped gel robot which was prototyped (Figure 7.2). It was focused on tip (end-effector) position control of a gel manipulator as a first step (Figure 7.3). This will form a foundation for shape control of gel robots. 

In this section, it was shown that a method to solve inverse kinematics of gel robots made of electro-active polymer gel. As a first step, a method was proposed to control the tip position of a manipulator entirely made of electro-active... 

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