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Self-contained soft robotic jellyfis...

Frame, Jennifer.

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Self-contained soft robotic jellyfish with water-filled bending actuators and positional feedback control.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Self-contained soft robotic jellyfish with water-filled bending actuators and positional feedback control./
Author:	Frame, Jennifer.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2016,
Description:	132 p.
Notes:	Source: Masters Abstracts International, Volume: 56-02.
Contained By:	Masters Abstracts International56-02(E).
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10300381
ISBN:	9781369424201

Self-contained soft robotic jellyfish with water-filled bending actuators and positional feedback control.
Frame, Jennifer.

Self-contained soft robotic jellyfish with water-filled bending actuators and positional feedback control. - Ann Arbor : ProQuest Dissertations & Theses, 2016 - 132 p.

Source: Masters Abstracts International, Volume: 56-02.

Thesis (M.S.)--Florida Atlantic University, 2016.

This thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated with water from its surroundings by impeller pumps; since the actuators are connected in two neighboring groups of four, the JenniFish has bi-directional movement capabilities. Imbedded resistive flex sensors provide actuator position to the vehicle's PD controller. Other onboard sensors include an IMU and an external temperature sensor. Quantitative constrained load cell tests, both in-line and bending, as well as qualitative free-swimming video tests were conducted to find baseline vehicle performance capabilities. Collected metrics compare well with existing robotic jellyfish.

ISBN: 9781369424201Subjects--Topical Terms:

649730
Mechanical engineering.

Self-contained soft robotic jellyfish with water-filled bending actuators and positional feedback control.
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