Table 1 Values for parameters of the electromechanical model, where “N/M” denotes not measured.

From: 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators

 

R (Ohms)

C (mF)

τ (sec)

ωc (rad-sec−1)

m1 (g)

m2 (g)

b (Dyn-s-cm−1)

c (Dyn-s-cm−1)

k (N-cm−1)

Body-actuator one

140

16

2.2

0.45

1.4

1.0

59

56

1.30

Body-actuator two

260

24

6.2

0.16

1.2

0.7

63

57

0.65

Leg-actuator one

100

55

5.6

0.17

N/M

N/M

N/M

N/M

N/M

Leg-actuator two

170

56

9.5

0.11

N/M

N/M

N/M

N/M

N/M

Leg-actuator three

210

52

10.9

0.09

N/M

N/M

N/M

N/M

N/M

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