Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Mechanical Engineering
Response Characterization Of Electroactive Polymers As Mechanical Sensors, G. Alici, Geoffrey M. Spinks, J. D. Madden, Y. Wu, G G. Wallace
Response Characterization Of Electroactive Polymers As Mechanical Sensors, G. Alici, Geoffrey M. Spinks, J. D. Madden, Y. Wu, G G. Wallace
Gursel Alici
The characterization of the dynamic response (including transfer function identification) of trilayer polypyrrole (PPy) type conducting polymer sensors is presented. The sensor was built like a cantilever beam with the free end stimulated through a mechanical lever system, which provided displacement inputs. The voltage generated and current passing between the two outer PPy layers as a result of the input was measured to model the output/input behavior of the sensors based on their experimental current/displacement and voltage/displacement frequency responses. We specifically targeted the low-frequency behavior of the sensor as it is a relatively slowsystem. Experimental transfer function models were generated …
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Daniel E Koditschek
Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral forces with significant pendulous swaying of the mass center trajectory in a manner captured by a recently proposed dynamical template. In this simulation study we explore the potential benefits of pendulous dynamical climbing in animals and in robots by examining the stability and power advantages of variously more and less sprawled limb morphologies when driven by conventional motors in contrast with animal-like muscles. For open loop models of gait generation inspired by the neural-deprived regimes of high stride-frequency animal climbing, our results corroborate earlier hypotheses …