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

28 Downloads (Pure)

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.
@article{5b841a56dd254f2cbd12d06af3eae28f,
title = "Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots",
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.",
keywords = "Soft robots, Magnetic actuation",
author = "{Kalpathy Venkiteswaran}, V. and {Fernando Samaniego}, L. and J. Sikorski and S. Misra",
year = "2019",
month = "4",
day = "1",
doi = "10.1109/LRA.2019.2898040",
language = "English",
volume = "4",
pages = "1753--1759",
journal = "IEEE Robotics and automation letters",
issn = "2377-3766",
publisher = "IEEE",
number = "2",

}

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

TY - JOUR

T1 - Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots

AU - Kalpathy Venkiteswaran, V.

AU - Fernando Samaniego, L.

AU - Sikorski, J.

AU - Misra, S.

PY - 2019/4/1

Y1 - 2019/4/1

N2 - 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.

AB - 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.

KW - Soft robots

KW - Magnetic actuation

U2 - 10.1109/LRA.2019.2898040

DO - 10.1109/LRA.2019.2898040

M3 - Article

VL - 4

SP - 1753

EP - 1759

JO - IEEE Robotics and automation letters

JF - IEEE Robotics and automation letters

SN - 2377-3766

IS - 2

M1 - 8636997

ER -