Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

Sishen Yuan1; Sifan Cao1; Junnan Xue2; Shijian Su1; Junyan Yan3; Min Wang4; Wenchao Yue1; Shing Shin Cheng3; Jun Liu4; Jiaole Wang2; Shuang Song2; Max Q.-H Meng5; Hongliang Ren1

2022-10

10.1109/LRA.2022.3194318

IEEE Robotics and Automation Letters   影响因子和分区

2377-3774

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.

Magnetic spring robot (MSR) motion generation worm crawling crab crawling rolling motion

SCI ; EI

英语

其他

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]

Robotics

Robotics

WOS:000836638000004

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20223312566564

Magnetic flux ; Open loop control ; Robots ; Shellfish

Biology:461.9 ; Magnetism: Basic Concepts and Phenomena:701.2 ; Control Systems:731.1 ; Robotics:731.5

Web of Science

1.Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China
2.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
3.Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
4.Department of Mechanical Engineering, City University of Hong Kong, China
5.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China

Sishen Yuan,Sifan Cao,Junnan Xue,et al. Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field[J]. IEEE Robotics and Automation Letters,2022,7(4):10486-10493.

Sishen Yuan.,Sifan Cao.,Junnan Xue.,Shijian Su.,Junyan Yan.,...&Hongliang Ren.(2022).Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field.IEEE Robotics and Automation Letters,7(4),10486-10493.

Sishen Yuan,et al."Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field".IEEE Robotics and Automation Letters 7.4(2022):10486-10493.