期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 4, 页码 10486-10493出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3194318
关键词
Magnetic spring robot (MSR); motion generation; worm crawling; crab crawling; rolling motion
类别
资金
- CUHK Direct for Research [4055139]
- Key Project of the Regional Joint Fund Project of the Basic and Applied Research Fund of Guangdong Province [2021B1515120035 (B.02.21.00101)]
- Hong Kong Research Grants Council (RGC) Collaborative Research Fund [CRF C4063-18 G]
- Shenzhen-Hong Kong-Macau Technology Research Programme (Type C) [202108233000303]
This study investigates the motion generation and control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring skeleton, using uniform magnetic field control. The robot can perform various motions under two-dimensional magnetic signal inputs, including in-plane crawling and axial rolling motion.
Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This letter will focus on the motion generation and open-loop control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring (OS) skeleton only using uniform magnetic field control. We investigate the associated motion generation mechanism and the corresponding control signals for the magnetic spring robot (MSR). The MSR can perform in-plane crawling (Worm Crawling) and perpendicular in-plane crawling (Crab Crawling) under twodimensional magnetic signal inputs. Moreover, the OS's stretchtwist coupling characteristic is utilized to achieve axial Rolling Motion with axial magnetization configuration. We further experimentally tested the performance of three motions with average normalized velocities of 0.34 +/- 0.039(body length/s), 0.054 +/- 0.0066(body length/s), and I 46 +/- 0.069(body length/s), respectively.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据