Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

Alessandro Riccardi; Guilherme P. Furtado; Jakub Sikorski; Marilena Vendittelli; Sarthak Misra

doi:10.1109/LRA.2023.3280814

Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

Alessandro Riccardi^*, Guilherme P. Furtado, Jakub Sikorski, Marilena Vendittelli, Sarthak Misra

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

3 Citations (Scopus)

64 Downloads (Pure)

Abstract

The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in large 3D workspaces, has been identified first. Then, a control model of the field generation system has been developed to produce a desired magnetic field designed to generate a locomotion gait in a legged miniaturized robot. Preliminary experiments prove the viability of the approach.

Original language	English
Pages (from-to)	4092-4098
Number of pages	7
Journal	IEEE Robotics and automation letters
Volume	8
Issue number	7
DOIs	https://doi.org/10.1109/LRA.2023.3280814
Publication status	Published - 1 Jul 2023

Keywords

and learning for soft robots
control
magnetic devices
Medical robots and systems
micro/nano robots
modeling
robot task control
2024 OA procedure

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/LRA.2023.3280814

Field_Model_Identification_and_Control_of_a_Mobile_Electromagnet_for_Remote_Actuation_of_Soft_RobotsFinal published version, 3.49 MBLicence: Taverne

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title = "Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots",

abstract = "The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in large 3D workspaces, has been identified first. Then, a control model of the field generation system has been developed to produce a desired magnetic field designed to generate a locomotion gait in a legged miniaturized robot. Preliminary experiments prove the viability of the approach.",

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AU - Misra, Sarthak

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Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

Abstract

Keywords

UN SDGs

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