Gel Robots (Shape Design and Motion Control of Electroactive Polymer Gel)

凝胶机器人（电活性聚合物凝胶的形状设计和运动控制）

• 批准号: 13450100
• 负责人: INOUE Hirochika
• 金额: $ 8.06万
• 依托单位: THE UNIVERSITY OF TOKYO
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13450100/
• 关键词: Electroactive Polymer; Gel; Robot; Simulation; Shape; Design; Motion; Control; 柔軟; 変形; モデル

This research studies the modeling, shape design and motion control of deformable machines consisting of actively deformable materials, which are referred to as artificial muscles. Recent advances in electroactive polymers, which are candidate materials for artificial muscles, have enabled the realization of deformable machines similar to living animals.Firstly, an approximate model of the gel was proposed and examined. Its deformation was characterized by two processes- molecular adsorption described with a reductive reaction- diffusion equation, and molecular propagation expressed with a stress generation equation.Secondly, a system for electroactive polymer gels was developed. The developed systems include a driving system consisting of an array of matrix of electrodes in a plane, which generates spatially-varying electric fields, and a manufacturing system for molding gels with wave-shaped surfaces.Thirdly, shape and motion control of gels was studied. Alternating electric fields were used to deform gels into objective shapes by changing the frequency of oscillation. Dynamic motions were generated by switching spatially varying electric fields. These techniques were demonstrated using examples involving beam-shaped gels curling around an object, and starfish-shaped gel robots turning over.

本研究以主动可变形材料所组成的可变形机器（人工肌肉）为研究对象，探讨其建模、形状设计与运动控制。电活性聚合物是人工肌肉的候选材料，其最新研究进展使人们能够实现类似于活体动物的可变形机器。首先，提出了一种近似的凝胶模型。其变形过程由还原反应扩散方程描述的分子吸附和应力产生方程描述的分子传播两个过程来表征。其次，研制了电活性聚合物凝胶体系。所开发的系统包括一个由平面电极阵列组成的驱动系统，它产生空间变化的电场，以及一个用于成型具有波浪形表面的凝胶的制造系统。第三，研究了凝胶的形状和运动控制。交变电场通过改变振荡频率使凝胶变形为目标形状。动态运动是通过切换空间变化的电场产生的。这些技术是使用涉及梁形凝胶卷曲在一个物体周围，海星形凝胶机器人翻转的例子来演示的。

项目成果

M.Otake, Y.Kagami, Y.Kuniyoshi, M.Inaba, H.Inoue: "Inverse kinematics of gel robots made of electro-active polymer gel"Proceedings of IEEE International Conference of Robotics and Automation. (In Press). (2002)

M.Otake、Y.Kagami、Y.Kuniyoshi、M.Inaba、H.Inoue：“由电活性聚合物凝胶制成的凝胶机器人的逆运动学”IEEE国际机器人与自动化会议论文集。

M.Otake, Y.Kagami, M.Inaba, H.Inoue: "Motion design of a starfish-shaped gel robot made of electro-active polymer gel"Robotics and Autonomous Systems. Vol.40. 185-191 (2002)

M.Otake、Y.Kagami、M.Inaba、H.Inoue：“由电活性聚合物凝胶制成的海星形凝胶机器人的运动设计”机器人与自主系统。

M. Otake, Y. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue: "Inverse dynamics of gel robots made of electro-active polymer gel"Proceedings of IEEE International Conference on Robotics and Automation. In Press. (2003)

M. Otake、Y. Kagami、Y. Kuniyoshi、M. Inaba、H. Inoue：“由电活性聚合物凝胶制成的凝胶机器人的逆动力学”IEEE 国际机器人与自动化会议论文集。

M.Otake, Y.Kagami, M.Inaba, H.Inoue: "Shape design of gel robots made of electro-active polymer gel"Proceedings of SPIE Symposium on Smart Materials and MEMS. Vol4234. 194-202 (2001)

M.Otake、Y.Kagami、M.Inaba、H.Inoue：“由电活性聚合物凝胶制成的凝胶机器人的形状设计”SPIE智能材料和MEMS研讨会论文集。

M.Otake, Y.Kagami, M.Inaba, H.Inoue: "Dynamics of gel robots made of electro-active polymer gel"Proceedings of IEEE International Conference on Robotics and Automation. 1457-1462 (2001)

M.Otake、Y.Kagami、M.Inaba、H.Inoue：“由电活性聚合物凝胶制成的凝胶机器人的动力学”IEEE国际机器人与自动化会议论文集。