Analysis and control for a bioinspired multi-legged soft robot
Untethered soft miniature robots are considered to have a wide range of applications in biomedical field. However, researchers today still have not reached a consensus on its configuration design and actuation method. Here, inspired by the tentacles of a certain kind of echinodermata, we propose a s...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2022-03-01
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| Series: | Biomimetic Intelligence and Robotics |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379721000309 |
| _version_ | 1818384969869819904 |
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| author | Danying Sun Jingyu Zhang Qin Fang Pingyu Xiang Yanan Xue Yue Wang Rong Xiong Haojian Lu |
| author_facet | Danying Sun Jingyu Zhang Qin Fang Pingyu Xiang Yanan Xue Yue Wang Rong Xiong Haojian Lu |
| author_sort | Danying Sun |
| collection | DOAJ |
| description | Untethered soft miniature robots are considered to have a wide range of applications in biomedical field. However, researchers today still have not reached a consensus on its configuration design and actuation method. Here, inspired by the tentacles of a certain kind of echinodermata, we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes. Based on the magnetic field distribution of a square permanent magnet, we qualitatively analyze the motion mechanism of the robot. Finally, we carried out relevant experimental research. The research shows that the robot can move forward, backward, steering and cross obstacles under the control of the magnetic field, and can combine these abilities to navigate the maze. |
| first_indexed | 2024-12-14T03:30:43Z |
| format | Article |
| id | doaj.art-885d1a5b39a64e899c7c209b03fa9af1 |
| institution | Directory Open Access Journal |
| issn | 2667-3797 |
| language | English |
| last_indexed | 2024-12-14T03:30:43Z |
| publishDate | 2022-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj.art-885d1a5b39a64e899c7c209b03fa9af12022-12-21T23:18:47ZengElsevierBiomimetic Intelligence and Robotics2667-37972022-03-0121100030Analysis and control for a bioinspired multi-legged soft robotDanying Sun0Jingyu Zhang1Qin Fang2Pingyu Xiang3Yanan Xue4Yue Wang5Rong Xiong6Haojian Lu7State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; Department of Plastic Surgery, Sir Run Run Shaw Hospital, Zhejiang University of Medicine, Hangzhou 310016, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China; Institute of Cyber-Systems and Control, the Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China; Corresponding author at: State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China.Untethered soft miniature robots are considered to have a wide range of applications in biomedical field. However, researchers today still have not reached a consensus on its configuration design and actuation method. Here, inspired by the tentacles of a certain kind of echinodermata, we propose a soft multi-legged robot with a total weight of 0.26 g capable of multiple locomotion modes. Based on the magnetic field distribution of a square permanent magnet, we qualitatively analyze the motion mechanism of the robot. Finally, we carried out relevant experimental research. The research shows that the robot can move forward, backward, steering and cross obstacles under the control of the magnetic field, and can combine these abilities to navigate the maze.http://www.sciencedirect.com/science/article/pii/S2667379721000309Multi-legged soft robotMagnetic modelingMagnetic controlMulti-legged robot locomotion |
| spellingShingle | Danying Sun Jingyu Zhang Qin Fang Pingyu Xiang Yanan Xue Yue Wang Rong Xiong Haojian Lu Analysis and control for a bioinspired multi-legged soft robot Biomimetic Intelligence and Robotics Multi-legged soft robot Magnetic modeling Magnetic control Multi-legged robot locomotion |
| title | Analysis and control for a bioinspired multi-legged soft robot |
| title_full | Analysis and control for a bioinspired multi-legged soft robot |
| title_fullStr | Analysis and control for a bioinspired multi-legged soft robot |
| title_full_unstemmed | Analysis and control for a bioinspired multi-legged soft robot |
| title_short | Analysis and control for a bioinspired multi-legged soft robot |
| title_sort | analysis and control for a bioinspired multi legged soft robot |
| topic | Multi-legged soft robot Magnetic modeling Magnetic control Multi-legged robot locomotion |
| url | http://www.sciencedirect.com/science/article/pii/S2667379721000309 |
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