The objective of this ARO project is to lay the control-theoretic foundation of controlling a hyper-redundant robotic arm or flexible robotic actuators, often represented by a distributed parameter system or a partial differential equation. We establish a model-guided approach for fabrication and control of flexible 3-D cellular actuator structures based on Electro-Active Polymers (EAPs) or other flexible materials. A model-guided approach for control of flexible structures is epitomized by the PI s PDE boundary control framework applied to articulated structures. The combined theoretical and experimental modeling framework would enable the exploitation and optimization of different actuator designs to achieve desirable dynamic and material characteristics. As far as material characterization is concerned, we focused on: (i) multi-physics modeling of EAP under combined electric and mechanical loading and (ii) the role of geometric reinforcement and stiffeners on macroscopic response and force-stroke characteristics of an EAP-based actuator.
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