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

doi:10.1109/LRA.2023.3280814

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

Team Bart De Schutter

Research output: Contribution to journal › Article › Scientific › peer-review

2 Citations (Scopus)

26 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 language	English
Pages (from-to)	4092-4098
Journal	IEEE Robotics and Automation Letters
Volume	8
Issue number	7
DOIs	https://doi.org/10.1109/LRA.2023.3280814
Publication status	Published - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

and Learning for Soft Robots
Control
Electromagnets
Magnetic Devices
Magnetic domains
Magnetic fields
Manipulators
Medical Robots and Systems
Micro/Nano Robots
Modeling
Robot Task Control
Robots
Soft magnetic materials
Soft robotics

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10.1109/LRA.2023.3280814

Field_Model_Identification_and_Control_of_a_Mobile_Electromagnet_for_Remote_Actuation_of_Soft_RobotsFinal published version, 3.49 MB

Cite this

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title = "Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots",

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.",

keywords = "and Learning for Soft Robots, Control, Electromagnets, Magnetic Devices, Magnetic domains, Magnetic fields, Manipulators, Medical Robots and Systems, Micro/Nano Robots, Modeling, Robot Task Control, Robots, Soft magnetic materials, Soft robotics",

author = "Alessandro Riccardi and Furtado, {Guilherme P.} and Jakub Sikorski and Marilena Vendittelli and Sarthak Misra",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.",

year = "2023",

doi = "10.1109/LRA.2023.3280814",

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AU - Sikorski, Jakub

AU - Vendittelli, Marilena

AU - Misra, Sarthak

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - and Learning for Soft Robots

KW - Control

KW - Electromagnets

KW - Magnetic Devices

KW - Magnetic domains

KW - Magnetic fields

KW - Manipulators

KW - Medical Robots and Systems

KW - Micro/Nano Robots

KW - Modeling

KW - Robot Task Control

KW - Robots

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KW - Soft robotics

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JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 7

ER -

Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

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Keywords

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