Inverse Kinematics of Gel Robots made of Electro-Active Polymer Gel

This paper proposes an inverse kinematic model for deformable robots made entirely of electro-active polymer gel. The required method is to control higher degrees of freedom than numbers of input. We have been proposed a kinematic and dynamic model of electro-active polymer system and derived a variety of motions of gel robots by applying spatially varying electric fields. However, inverse kinematic model and the method of applying time alternating electric fields have not been investigated. We challenge the tip control of gel manipulator by applying spatially uniform but time varying electric field. We show the procedure to control tip position of a gel manipulator by dynamically and slightly changing its whole configuration. Our work will be the first step towards the shape control of gel robots.