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MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot
Hanqing Niu1, Ruoyu Feng2, Yuwei Xie1
1School of Automation, Beijing Institute of Technology, Beijing, China.
Soft Robotics
|August 22, 2020
Summary
This study introduces the MagWorm, a centimeter-scale, magnet-actuated soft robot capable of untethered crawling. This biomimetic design offers a compact and low-cost solution for remote actuation in soft robotics.
Area of Science:
- Soft Robotics
- Biomimetics
- Magnetic Actuation
Background:
- Soft robots face challenges in achieving fast, untethered locomotion.
- Worm-like robots are a promising area of soft robotics research.
- Remote actuation is key for untethered soft robot operation.
Purpose of the Study:
- To design and investigate a biomimetic magnet-embedded worm-like soft robot (MagWorm).
- To develop a dynamic model coupling elastic rod theory with magnetic actuation.
- To demonstrate and analyze the MagWorm's crawling locomotion and speed.
Main Methods:
- Designed a centimeter-scale, magnet-embedded soft robot (MagWorm).
- Developed a dynamic model integrating discrete elastic rod theory and magnetic actuation.
- Conducted numerical simulations and experimental validation of the driving mechanism and locomotion.
Main Results:
- The MagWorm successfully achieved biomimetic crawling locomotion by deforming into a "Ω" shape.
- Numerical and experimental results showed reasonable agreement.
- Crawling speed was experimentally evaluated across different robot sizes.
Conclusions:
- The MagWorm offers a compact, low-cost, and continuously operable solution for remote actuation of soft robots using permanent magnets.
- This biomimetic design advances untethered crawling capabilities in soft robotics.
- Potential applications for the MagWorm were proposed and demonstrated.
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