Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots

V. Kalpathy Venkiteswaran (Corresponding Author), L. Fernando Samaniego, J. Sikorski, S. Misra

    Research output: Contribution to journalArticleAcademicpeer-review

    1 Citation (Scopus)
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    Abstract

    Magnetic soft robots have the combined advantages of contactless actuation, requiring no on-board power source, and having flexible bodies that can adapt to unstructured environments. In this study, four milli-scale soft robots are designed (Inchworm, Turtle, Quadruped, and Millipede) and their actuation under external magnetic fields is investigated with the objective of reproducing multi-limbed motion patterns observed in nature. Magnetic properties are incorporated into a silicone polymer by mixing in ferromagnetic microparticles before curing. The magnet-polymer composite is used to fabricate soft magnetic parts, with pre-determined magnetization profiles achieved using a 1 T field. The resulting soft robots are actuated under external magnetic fields of 10–35 mT which are controlled using an array of six electromagnetic coils. The achieved motion patterns are analyzed over five iterations and the motions are quantified in terms of body lengths traversed per actuation cycle and speed of displacement. The speed of the specimens is calculated to be in the range of 0.15–0.37 mm/s for the actuation field used here. The ability of the soft robots to traverse uneven terrain is also tested, with the Turtle and the Millipede demonstrating successful motion.
    Original languageEnglish
    Article number8636997
    Pages (from-to)1753-1759
    Number of pages7
    JournalIEEE Robotics and automation letters
    Volume4
    Issue number2
    DOIs
    Publication statusPublished - 1 Apr 2019

    Fingerprint

    Robot
    Robots
    Turtle
    Motion
    External Field
    Magnetic Field
    Magnetic fields
    Polymer Composites
    Curing
    Magnetic Properties
    Polymers
    Coil
    Magnetization
    Silicones
    Magnets
    Magnetic properties
    Iteration
    Cycle
    Composite materials
    Range of data

    Keywords

    • Soft robots
    • Magnetic actuation

    Cite this

    Kalpathy Venkiteswaran, V. ; Fernando Samaniego, L. ; Sikorski, J. ; Misra, S. / Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots. In: IEEE Robotics and automation letters. 2019 ; Vol. 4, No. 2. pp. 1753-1759.
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    Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots. / Kalpathy Venkiteswaran, V. (Corresponding Author); Fernando Samaniego, L.; Sikorski, J.; Misra, S.

    In: IEEE Robotics and automation letters, Vol. 4, No. 2, 8636997, 01.04.2019, p. 1753-1759.

    Research output: Contribution to journalArticleAcademicpeer-review

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