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 journalArticleAcademicpeer-review

1 Citation (Scopus)
16 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 languageEnglish
Pages (from-to)4092-4098
Number of pages7
JournalIEEE Robotics and automation letters
Volume8
Issue number7
DOIs
Publication statusPublished - 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

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