Towards Gradient-Based Actuationof Magnetic Soft Robots Using a Six-Coil Electromagnetic System

V. Kalpathy Venkiteswaran*, S. Misra

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

4 Citations (Scopus)
53 Downloads (Pure)

Abstract

In recent years, the use of soft materials within robotic devices has gained widespread traction due to their beneficial structural properties such as flexibility and resilience [1]. In contrast to rigid-body robots, soft robots conform to their environment, making them suitable for specific tasks such as maneuvering in tight and unstructured spaces, and grasping delicate objects [2]. Soft robotic systems are generally under-actuated (due to the flexibility in the material) with low-level primitives (e.g., motion gaits, grasping poses) built into the structure, while control is achieved using a few high-level actuation inputs (e.g., pneumatic, electric) [3], [4]. However, in order to use soft robots reliably for real-world applications, there is a need to develop actuation and control techniques that accentuate the structural benefits while stabilizing the low-level primitives; for instance, anchoring locomoting robots to a working surface in order to overcome gravity or other environmental conditions.
Original languageEnglish
Number of pages7
DOIs
Publication statusPublished - Oct 2020
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020: Consumer Robotics and Our Future - On-Demand Conference, Las Vegas, United States
Duration: 25 Oct 202025 Nov 2020
https://www.iros2020.org/index.html

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period25/10/2025/11/20
Internet address

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