A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot

Hsin Cheng; Zhiwu Zheng; Prakhar Kumar; Yenan Chen; Jaeil Baek; Ben Kim; Sigurd Wagner; Naveen Verma; James C. Sturm; Minjie Chen

doi:10.1109/COMPEL52896.2023.10221022

A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot

Hsin Cheng, Zhiwu Zheng, Prakhar Kumar, Yenan Chen, Jaeil Baek, Ben Kim, Sigurd Wagner, Naveen Verma, James C. Sturm, Minjie Chen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Soft robot is an enabling technology for many emerging applications. The operation voltages of many electric soft actuators, i.e., Macro Fiber Composites (MFC) and Dielectric Elastomer Actuators (DEA), are usually in the range of hundreds to thousands of volts. Actuators in a soft robot often need to be coordinated efficiently, precisely or rapidly, to perform useful functions such as crawling, jumping, or swimming. This paper presents the design and implementation of a flexible, lightweight, and modular power converter for multi-actuator piezoelectric soft robots. Output pulses of 300 V to 1500 V, 1 W, can be generated from 7.4 V input voltage with less than 5g of power electronics weight. A fully untethered, modular, scalable soft robot platform enables new opportunities for hardware, software, power, and control co-design.

Original language	English (US)
Title of host publication	2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350316186
DOIs	https://doi.org/10.1109/COMPEL52896.2023.10221022
State	Published - 2023
Event	24th IEEE Workshop on Control and Modeling for Power Electronics, COMPEL 2023 - Ann Arbor, United States Duration: Jun 25 2023 → Jun 28 2023

Publication series

Name	2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023

Conference

Conference	24th IEEE Workshop on Control and Modeling for Power Electronics, COMPEL 2023
Country/Territory	United States
City	Ann Arbor
Period	6/25/23 → 6/28/23

All Science Journal Classification (ASJC) codes

Computer Science Applications
Energy Engineering and Power Technology
Electrical and Electronic Engineering
Control and Optimization
Modeling and Simulation

Keywords

DC-DC
diode multiplier
high voltage
piezoelectric actuators
soft robots
switched-capacitor

Access to Document

10.1109/COMPEL52896.2023.10221022

Cite this

Cheng, H., Zheng, Z., Kumar, P., Chen, Y., Baek, J., Kim, B., Wagner, S., Verma, N., Sturm, J. C., & Chen, M. (2023). A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot. In 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023 (2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/COMPEL52896.2023.10221022

Cheng, Hsin ; Zheng, Zhiwu ; Kumar, Prakhar et al. / A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot. 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023).

@inproceedings{94990c52b2654fcea4180c7f48cf36bd,

title = "A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot",

abstract = "Soft robot is an enabling technology for many emerging applications. The operation voltages of many electric soft actuators, i.e., Macro Fiber Composites (MFC) and Dielectric Elastomer Actuators (DEA), are usually in the range of hundreds to thousands of volts. Actuators in a soft robot often need to be coordinated efficiently, precisely or rapidly, to perform useful functions such as crawling, jumping, or swimming. This paper presents the design and implementation of a flexible, lightweight, and modular power converter for multi-actuator piezoelectric soft robots. Output pulses of 300 V to 1500 V, 1 W, can be generated from 7.4 V input voltage with less than 5g of power electronics weight. A fully untethered, modular, scalable soft robot platform enables new opportunities for hardware, software, power, and control co-design.",

keywords = "DC-DC, diode multiplier, high voltage, piezoelectric actuators, soft robots, switched-capacitor",

author = "Hsin Cheng and Zhiwu Zheng and Prakhar Kumar and Yenan Chen and Jaeil Baek and Ben Kim and Sigurd Wagner and Naveen Verma and Sturm, {James C.} and Minjie Chen",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 24th IEEE Workshop on Control and Modeling for Power Electronics, COMPEL 2023 ; Conference date: 25-06-2023 Through 28-06-2023",

year = "2023",

doi = "10.1109/COMPEL52896.2023.10221022",

language = "English (US)",

series = "2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023",

address = "United States",

}

Cheng, H, Zheng, Z, Kumar, P, Chen, Y, Baek, J, Kim, B, Wagner, S, Verma, N , Sturm, JC & Chen, M 2023, A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot. in 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023. 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023, Institute of Electrical and Electronics Engineers Inc., 24th IEEE Workshop on Control and Modeling for Power Electronics, COMPEL 2023, Ann Arbor, United States, 6/25/23. https://doi.org/10.1109/COMPEL52896.2023.10221022

A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot. / Cheng, Hsin; Zheng, Zhiwu; Kumar, Prakhar et al.
2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot

AU - Cheng, Hsin

AU - Zheng, Zhiwu

AU - Kumar, Prakhar

AU - Chen, Yenan

AU - Baek, Jaeil

AU - Kim, Ben

AU - Wagner, Sigurd

AU - Verma, Naveen

AU - Sturm, James C.

AU - Chen, Minjie

PY - 2023

Y1 - 2023

N2 - Soft robot is an enabling technology for many emerging applications. The operation voltages of many electric soft actuators, i.e., Macro Fiber Composites (MFC) and Dielectric Elastomer Actuators (DEA), are usually in the range of hundreds to thousands of volts. Actuators in a soft robot often need to be coordinated efficiently, precisely or rapidly, to perform useful functions such as crawling, jumping, or swimming. This paper presents the design and implementation of a flexible, lightweight, and modular power converter for multi-actuator piezoelectric soft robots. Output pulses of 300 V to 1500 V, 1 W, can be generated from 7.4 V input voltage with less than 5g of power electronics weight. A fully untethered, modular, scalable soft robot platform enables new opportunities for hardware, software, power, and control co-design.

AB - Soft robot is an enabling technology for many emerging applications. The operation voltages of many electric soft actuators, i.e., Macro Fiber Composites (MFC) and Dielectric Elastomer Actuators (DEA), are usually in the range of hundreds to thousands of volts. Actuators in a soft robot often need to be coordinated efficiently, precisely or rapidly, to perform useful functions such as crawling, jumping, or swimming. This paper presents the design and implementation of a flexible, lightweight, and modular power converter for multi-actuator piezoelectric soft robots. Output pulses of 300 V to 1500 V, 1 W, can be generated from 7.4 V input voltage with less than 5g of power electronics weight. A fully untethered, modular, scalable soft robot platform enables new opportunities for hardware, software, power, and control co-design.

KW - DC-DC

KW - diode multiplier

KW - high voltage

KW - piezoelectric actuators

KW - soft robots

KW - switched-capacitor

UR - http://www.scopus.com/inward/record.url?scp=85171426755&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85171426755&partnerID=8YFLogxK

U2 - 10.1109/COMPEL52896.2023.10221022

DO - 10.1109/COMPEL52896.2023.10221022

M3 - Conference contribution

AN - SCOPUS:85171426755

T3 - 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023

BT - 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 24th IEEE Workshop on Control and Modeling for Power Electronics, COMPEL 2023

Y2 - 25 June 2023 through 28 June 2023

ER -

Cheng H, Zheng Z, Kumar P, Chen Y, Baek J, Kim B et al. A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot. In 2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 IEEE 24th Workshop on Control and Modeling for Power Electronics, COMPEL 2023). doi: 10.1109/COMPEL52896.2023.10221022

A Flexible Lightweight 7.4 V Input 300 V to 1500 V Output Power Converter for an Untethered Modular Piezoelectric Soft Robot

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Keywords

Access to Document

Other files and links

Fingerprint

Cite this