Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators
Chongjing Cao,
Chuang Wu,
Xiaozheng Li
et al.
Abstract:Vibro-impact crawling robots driven by the emerging dielectric elastomer actuators (DEAs) feature the advantages of reduced system complexity and bidirectional locomotion capability. However, due to the lack of systematic dynamic models and in-depth investigations, the fundamental locomotion principles of the robots are still unclear and therefore their applications in real-world scenarios remain hindered. In this paper, a comprehensive dynamic model of this robot is developed by considering the complex intera… Show more
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