EAP（Electric Actuated Polymer，电驱动聚合物）作为新型机器人关节驱动材料，具有高柔顺性、低噪声、质量轻等优点，与生物体的运动机理具有很高的相似性，在机器人领域具有广泛的应用前景。针对EAP驱动器机电特性中的强非线性导致的系统难控性问题，构建测试平台，分析各种工况下EAP材料机电特性，在此基础上设计针对特定关节驱动的控制器，实现EAP关节驱动器的快速稳定运动控制。提取构造图像特征，设计机器人视觉控制器，提高柔性驱动机器人末端运动控制精度。在仿生机器人的实践方面，基于EAP材料柔性驱动特性，设计EAP驱动的仿生机器鱼。实现仿生机器鱼的运动控制。通过本项目的工作，将丰富与发展既有机器人驱动控制理论的研究成果，并为基于EAP驱动技术仿生机器人的设计和控制提供理论支持和实践指导，提高机器人控制性能。

EAP (Electric Actuated Polymer) is a novel material for robot joint actuation, and has potential wide application prospects in robots with its advantages such as high flexibility, low noise, light weight, and high similarity with the movement of the organism. Strongly nonlinearity in EAP based robot joint actuation electromechanical system usually results in the difficulties in movement control. A platform is built to test and analyze the electromechanical characteristics of EAP materials, and an optimal controller is designed to achieve rapid and stable motion control performance. For the problem of low precision in flexible EAP driving system, vision control approach is employed to construct visual control loop to improve the control precision of the end-effectors of the robot. A bionic inspired robot fish is designed based on flexible actuation of EAP materials. This project will enrich and develop both the robot driving control theory, and provide theoretical technical supports to design and control of the inspired robot using EAP, and improve the robot actuation control performance and the bionic level.