The actuation of miniaturized robots through external magnetic fields has great potential formedical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, themagnetic 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.
Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots / Riccardi, Alessandro; Furtado, Guilherme P.; Sikorski, Jakub; Vendittelli, Marilena; Misra, Sarthak. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 8:7(2023), pp. 4092-4098. [10.1109/LRA.2023.3280814]
Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots
Alessandro Riccardi
;Marilena Vendittelli;
2023
Abstract
The actuation of miniaturized robots through external magnetic fields has great potential formedical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, themagnetic 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.| File | Dimensione | Formato | |
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