仿生軟機器人學
Bioinspired soft robotics
| 節 | 週一 |
|---|---|
A 18:30–19:20 | 仿生軟機器人學 EE230 3 節連堂 |
B 19:30–20:20 | |
C 20:30–21:20 |
* 根據陽明交大上課時間表所列
Animals can move and adapt effectively to complex environment and missions. While soft muscles power the animal movements, they are also leveraged by rigid and elastic mechanisms. This inspired the recent development of bioinspired robots powered by soft actuators through elastic mechanisms. The objective of this course is to teach students the foundation of animal movements, muscles and elastic mechanism, and bioinspired soft actuators. Also taught are the rubber hyperelasticty and transduction principles that enable the smart design of soft robots. In addition, students will have chance to learn the hands-on experiments of making and driving dielectric elastomer-based grippers and locomotor, in addition to the design of flapping wing micro air vehicles.
Calculus and Physics, Engineering Mechanics, Mechanics of Materials
Teaching Assistant 教學助教:TBD
Homework (20%) Midterm Examination (30%) Writing Assignment (20%) Final Exam 期末考 (30%)
- Animal Locomotion
- Experiment
- Soft Actuators and Sensors, Soft Robotic Materials
| 週次 | 主題 |
|---|---|
| 第 1 週 | Introduction to soft robotics |
| 第 2 週 | Skeletal Muscles |
| 第 3 週 | Skeletal leverage, and spring |
| 第 4 週 | Animal locomotion: walking |
| 第 5 週 | Animal locomotion: running and jumping |
| 第 6 週 | Animal locomotion: swimming and rowing |
| 第 7 週 | Animal locomotion: Fish swimming |
| 第 8 週 | Animal locomotion: flight -gliding and soaring |
| 第 9 週 | Animal locomotion: hovering flight – disk actuator theory and blade element theory |
| 第 10 週 | Introduction to soft transducers, stretchable Sensors |
| 第 11 週 | Stretch Sensors (2) |
| 第 12 週 | Dielectric elastomer actuators: in stacked and cylindrical designs |
| 第 13 週 | Dielectric elastomer actuators: bending motion |
| 第 14 週 | Experiments |
| 第 15 週 | Rubber elasticity and McKibben Actuator |
| 第 16 週 | Final Examination |
1. Alexander, R.M., 2003. Principles of animal locomotion. Princeton University Press. (E-book Available from NCTU subscription to JSTOR: https://www.jstor.org/stable/j.ctt4cg9j1 -j.ctt4cg9j1.15 ) 2. Carpi, F. ed., 2016. Electromechanically active polymers: a concise reference. Switzerland: Springer International Publishing. (E-book Available from NCTU subscription to Springer Book Series: https://link.springer.com/referencework/10.1007%2F978-3-319-31530-0)
- 地點
- EE469
- 聯絡方式
- E-mail: mgklau@nctu.edu.tw