Project Overview:

1

• Biomimetic Walking Robot
• Sara Matrangola, S. DeWayne Moore, Blair Padula,
• Justin Ronkowitz, Michael Whitley, Russell
  Langford (ME)
• Raymond King (sophomore volunteer)
• Advisor K. P. Granata, Ph.D. ESM
• The goal of this project is to examine and apply
  muscle-like smart materials, such as
  electroactive polymers (EAP) and shape-memory
  alloys (SMA), to the completion of a biomimetic
  walking robot used for landmine detection. This
  robot will be presented at the SPIE conference on
  electroactive polymers in San Diego, CA.

• Project Overview
• Phase 1 Research In depth investigation into
  possible actuators, power sources and robot body
  designs. This research will be used to develop
  modifications for landmine detecting robots.
• Phase 2 Dynamics and Control Modeling
  Understanding and application of nonlinear
  dynamics to develop a model of a neural
  oscillator. The neural oscillator serves as a
  control for the robot and modeling will allow for
  improvements as design changes are made.
• Phase 3 Material Fabrication and Analysis
  Selection of electroactive polymer actuating
  material and method of activation. The material
  will be selected based on a force output
  optimization criterion.
• Phase 4 Kinematics and Stability Based upon
  material selection we will develop an efficient,
  hinged, leg design. This design will provide
  forward locomotion by mimicking mammalian
  quadruped movement.
• Phase 5 Showcase with International Society for
  Optical Engineering (SPIE) March 18-22,
  2007
• Project will be completed in order to present at
  the SPIE conference in San Diego, CA on
  electroactive polymers.