Modeling and characterization of stiffness controlled robotic legs using dielectric elastomers

摘要

A new robotic leg design is presented that utilizes dielectric elastomers (3M VHB 4910) to rapidly control stiffness changes for enhanced mobility and agility of a field demonstrated hexapod robot. A set of electromechanical test are utilized to obtain up to 92% reduction in stiffness that is controlled by an electric field. The results are compared to a finite deformation membrane finite element model to understand and improve field driven stiffness changes for real-time robotic applications.