Name
Abstract | ||
|---|---|---|
Dielectric elastomer actuators (DEAs) stick out among explored soft actuators due to their advantages of large deformation, high energy density, fast response and low cost. However, DEAs still are far away from robotic practical applications because of the difficulty of the actuation control. This paper presents a novel control approach for control a 3D DEA control. The fabrication of the proposed soft actuator is introduced and the dynamics of the DEA is analyzed via several experiments. Furthermore, a bio-inspired cerebellum nonlinear controller for achieving accurate movements of the DEAs are designed and analyzed. Finally, the simulation and experiments have been carried out for the developed system validation. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/ICARM.2018.8610876 | 2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM) |
Keywords | DocType | ISBN |
high energy density,DEA,robotic practical applications,actuation control,soft actuator,bio-inspired cerebellum nonlinear controller,dielectric elastomer actuator,explored soft actuators | Conference | 978-1-5386-7067-5 |
Citations | PageRank | References |
0 | 0.34 | 2 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenyu Liang | 1 | 20 | 11.00 |
| Jiawei Cao | 2 | 4 | 4.60 |
| Qinyuan Ren | 3 | 36 | 11.03 |