机器人
磁铁
磁场
限制
机器人运动学
软机器人
物理
计算机科学
控制理论(社会学)
移动机器人
机械工程
工程类
人工智能
控制(管理)
量子力学
作者
William D. Johnson,Stephanie J. Woodman,Rebecca Kramer-Bottiglio
标识
DOI:10.1109/robosoft54090.2022.9762196
摘要
Existing magnetically actuated soft robots require an external magnetic field to generate motion, limiting them to carefully controlled laboratory settings. Here, we introduce an electromagnetically actuated soft robot that can locomote without an external magnetic field. The robot is designed to carry its own magnet, which it alternately retracts and repels. Friction-biased feet transform this back-and-forth linear motion into forward locomotion, mimicking an earthworm gait. We demonstrate a characteristic velocity of 1.5 body lengths per second (31.3 mm/s) and actuation speeds over 150 Hz. This work paves the way for fully autonomous, untethered magnetic soft robots.
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