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A novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is developed. A prototype is presented and the control schemes are validated experimentally. A satisfactory accuracy...
This paper reports the synthesis of an electroactive polymer actuator in polypyrrole (PPy) on a polyvinylidene difluoride (PVDF) substrate. The technological development is detailed. This study reports our investigation on a tri-layer PPy actuator for large deformations and comparison with literature modeling. We also investigate their use towards real applications by introducing lifetime measurement,...
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