NDT.net - January 2002, Vol. 7 No.01

Biologically Inspired Robots as Artificial Inspectors

Yoseph Bar-Cohen
Jet Propulsion Laboratory/Caltech
4800 Oak Grove Drive, M/S 82-105, Pasadena, CA 91109, USA
Corresponding Author Contact:
Email: yosi@jpl.nasa.gov, Web: http://ndeaa.jpl.nasa.gov

ABSTRACT

INTRODUCTION

Fig 5: 4-finger EAP gripperlifting a rock. Fig 6: Grand challenge for the development of EAP actuated robotics.

HISTORICAL REVIEW AND CURRENTLY AVAILABLE ACTIVE POLYMERS

NEED FOR EAP TECHNOLOGY INFRASTRUCTURE

Fig 8: EAP infrastructure block diagram.

MAKING ROBOTS ACTUATED BY EAP

REMOTE PRESENCE

SUMMARY AND OUTLOOK

REFERENCES

  1. Bar-Cohen Y. (Ed.), Proceedings of the SPIE's Electroactive Polymer Actuators and Devices Conf., 6 th Smart Structures and Materials Symposium, Volume 3669, ISBN 0-8194-3143-5, (1999), pp. 1-414.
  2. Bar-Cohen Y. (Ed.), "Automation, Miniature Robotics and Sensors for Nondestructive Evaluation and Testing," Volume 4 of the Topics on NDE (TONE) Series, American Society for Nondestructive Testing, Columbus, OH, ISBN 1-57117-043 (2000a), pp.1-481.
  3. Bar-Cohen Y. (Ed.), Proceedings of the SPIE's Electroactive Polymer Actuators and Devices Conf., 7 th Smart Structures and Materials Symposium, Vol. 3987, ISBN 0-8194-3605-4 (2000b), pp 1-360.
  4. Bar-Cohen Y. (Ed.), "Electroactive Polymer (EAP) Actuators as Artificial Muscles - Reality, Potential and Challenges," ISBN 0-8194-4054-X, SPIE Press, Vol. PM98, (March 2001a), pp. 1-671 http://ndeaa.jpl.nasa.gov/nasa-nde/yosi/yosi-books.htm
  5. Bar-Cohen Y. (Ed.), Proceedings of the SPIE's Electroactive Polymer Actuators and Devices, 8 th Smart Structures and Materials Symposium, Vol. 4329, ISBN 0-8194-4015-9 (2001b), pp. 1- 524.
  6. Eguchi M., Phil. Mag., Vol. 49, (1925)
  7. Katchalsky, A., "Rapid Swelling and Deswelling of Reversible Gels of Polymeric Acids by Ionization", Experientia, Vol. V, (1949), pp 319-320.
  8. Kornbluh R. and R. Pelrine, "Application of Dielectric EAP Actuators," Chapter 16 in [Bar-Cohen, 2001a], pp. 457-495.
  9. Roentgen, W. C., "About the changes in shape and volume of dielectrics caused by electricity", Ann. Phys. Chem. vol. 11, pp. 771-786, 1880
  10. Sacerdote M. P., J. Physics, 3 Series, t, VIII, 31 (1899).
  11. Zhang Q. M., T. Furukawa, Y. Bar-Cohen, and J. Scheinbeim (Editors), Proceedings of the Fall MRS Symposium on "Electroactive Polymers (EAP)," ISBN 1-55899-508-0, Vol. 600, Warrendale, PA, (1999) pp. 1-336.

http://ndeaa.jpl.nasa.gov/nasa-nde/lommas/eap/EAP-book_outline.htm

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