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dc.contributor.authorDuduta, Mihai
dc.contributor.authorBerlinger, Florian
dc.contributor.authorNagpal, Radhika
dc.contributor.authorClarke, Dionne
dc.contributor.authorWood, R J
dc.contributor.authorTemel, Fatma Zeynep
dc.date.accessioned2019-09-11T12:26:33Z
dc.date.issued2019-08-12
dc.identifier.citationDuduta, M., F.C.J. Berlinger, R. Nagpal, D.R. Clarke, R.J. Wood, and F. Zeynep Temel. 2019. Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator. Smart Materials and Structures 28 (9): 09LT01. DOI: 10.1088/1361-665X/ab3537en_US
dc.identifier.issn0964-1726en_US
dc.identifier.issn1361-665Xen_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:41307117*
dc.description.abstractJumping mechanisms are useful in robotics for locomotion in unstructured environments, or for self-righting abilities. However, most rigid robots rely on impact with the ground to jump, thereby requiring a relatively rigid, and flat environment. Moreover, they need to be able to absorb high impact forces during landing in order to maintain structural integrity. In this paper we investigate soft systems, capable of jumping repeatedly in unstructured environments with no need for precise landings. Our impulsive approach is based on a soft electro-mechanical transducer, a dielectric elastomer actuator (DEA). The design is inspired by click-beetles and simple bio-mechanical models, which convert the flexing around a hinge into jumping. Our actuator is power amplified by the addition of a stiffer strip, allowing for rapid shape transitions (22 ms) between flat and curved states. The transition is controlled by an electric latch: the DEA is discharged faster than the actuator can deform. The mechanical energy stored in the composite beam is released rapidly, leading to impulsive motions (jumps of a full body length: i.e. 5 cm). This demonstration of an electrically-latched power amplification mechanism shows that relatively simple electro-mechanical systems can exhibit impulsive behavior which may enable new types of locomotion in compliant machines.en_US
dc.description.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dc.publisherIOP Publishingen_US
dash.licenseMETA_ONLY
dc.subjectSignal Processingen_US
dc.subjectElectrical and Electronic Engineeringen_US
dc.subjectGeneral Materials Scienceen_US
dc.subjectAtomic and Molecular Physics, and Opticsen_US
dc.subjectMechanics of Materialsen_US
dc.subjectCivil and Structural Engineeringen_US
dc.subjectCondensed Matter Physicsen_US
dc.titleElectrically-latched compliant jumping mechanism based on a dielectric elastomer actuatoren_US
dc.typeJournal Articleen_US
dc.description.versionVersion of Recorden_US
dc.relation.journalSmart Materials and Structuresen_US
dash.depositing.authorDuduta, Mihai
dc.date.available2019-09-11T12:26:33Z
dc.identifier.doi10.1088/1361-665x/ab3537
dc.source.journalSmart Mater. Struct.
dash.source.volume28;9
dash.source.page09LT01
dash.contributor.affiliatedClarke, Dionne
dash.contributor.affiliatedTemel, Fatma Zeynep
dash.contributor.affiliatedDuduta, Mihai
dash.contributor.affiliatedBerlinger, Florian
dash.contributor.affiliatedNagpal, Radhika


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