Design and Control of a Magnetic Driven Worm-like Micro-robot

Chupeng Tang; Hailin Huang; Bing Li

doi:10.1109/ROBIO54168.2021.9739587

Design and Control of a Magnetic Driven Worm-like Micro-robot

Chupeng Tang
, Hailin Huang^*
, Bing Li

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Peng Cheng Laboratory

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

This paper presents the design and control of a worm-like soft robot, which is driven by a 3-D Helmholtz coils magnetic system. The whole robot adopts soft materials and is manufactured by Stereo Lithography Apparatus technology. NdFeB cylindrical magnets with opposite magnetization directions are glued to the front and rear of the robot, and the different friction forces on the head and tail of the robot are used to realize the worm-like gait movement. Based on the principle of magnetic field superposition and the magnetic dipole model, the robot can be positioned in real time with dual magnetic targets, with an average positioning error of 2.30mm, and the robot's automatic navigation movement is realized through closed-loop feedback.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1304-1308
Number of pages	5
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739587
State	Published - 2021
Externally published	Yes
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Hybrid, Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Hybrid, Sanya
Period	27/12/21 → 31/12/21

Access to Document

10.1109/ROBIO54168.2021.9739587

Cite this

Tang, C., Huang, H., & Li, B. (2021). Design and Control of a Magnetic Driven Worm-like Micro-robot. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 1304-1308). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739587

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title = "Design and Control of a Magnetic Driven Worm-like Micro-robot",

abstract = "This paper presents the design and control of a worm-like soft robot, which is driven by a 3-D Helmholtz coils magnetic system. The whole robot adopts soft materials and is manufactured by Stereo Lithography Apparatus technology. NdFeB cylindrical magnets with opposite magnetization directions are glued to the front and rear of the robot, and the different friction forces on the head and tail of the robot are used to realize the worm-like gait movement. Based on the principle of magnetic field superposition and the magnetic dipole model, the robot can be positioned in real time with dual magnetic targets, with an average positioning error of 2.30mm, and the robot's automatic navigation movement is realized through closed-loop feedback.",

author = "Chupeng Tang and Hailin Huang and Bing Li",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739587",

language = "英语",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1304--1308",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

address = "美国",

}

Tang, C, Huang, H & Li, B 2021, Design and Control of a Magnetic Driven Worm-like Micro-robot. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1304-1308, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Hybrid, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739587

Design and Control of a Magnetic Driven Worm-like Micro-robot. / Tang, Chupeng; Huang, Hailin ; Li, Bing.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1304-1308 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tang, Chupeng

AU - Huang, Hailin

AU - Li, Bing

PY - 2021

Y1 - 2021

N2 - This paper presents the design and control of a worm-like soft robot, which is driven by a 3-D Helmholtz coils magnetic system. The whole robot adopts soft materials and is manufactured by Stereo Lithography Apparatus technology. NdFeB cylindrical magnets with opposite magnetization directions are glued to the front and rear of the robot, and the different friction forces on the head and tail of the robot are used to realize the worm-like gait movement. Based on the principle of magnetic field superposition and the magnetic dipole model, the robot can be positioned in real time with dual magnetic targets, with an average positioning error of 2.30mm, and the robot's automatic navigation movement is realized through closed-loop feedback.

AB - This paper presents the design and control of a worm-like soft robot, which is driven by a 3-D Helmholtz coils magnetic system. The whole robot adopts soft materials and is manufactured by Stereo Lithography Apparatus technology. NdFeB cylindrical magnets with opposite magnetization directions are glued to the front and rear of the robot, and the different friction forces on the head and tail of the robot are used to realize the worm-like gait movement. Based on the principle of magnetic field superposition and the magnetic dipole model, the robot can be positioned in real time with dual magnetic targets, with an average positioning error of 2.30mm, and the robot's automatic navigation movement is realized through closed-loop feedback.

UR - https://www.scopus.com/pages/publications/85128242666

U2 - 10.1109/ROBIO54168.2021.9739587

DO - 10.1109/ROBIO54168.2021.9739587

M3 - 会议稿件

AN - SCOPUS:85128242666

T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

SP - 1304

EP - 1308

BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Y2 - 27 December 2021 through 31 December 2021

ER -

Design and Control of a Magnetic Driven Worm-like Micro-robot

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