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Related Concept Videos

Torque01:10

Torque

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Torque is an important quantity for describing the dynamics of a rotating rigid body. We see the application of torque in many ways in the world, such as when pressing the accelerator in a car, which causes the engine to apply additional torque on the drivetrain. Here, we define torque and provide a framework to create an equation to calculate torque for a rigid body with fixed-axis rotation.
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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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The most common application of magnetic force on current-carrying wires is in electric motors. These consist of loops of wire, which are placed between the magnets with a magnetic field. When current flows through the loops, the magnetic field applies torque, which causes the shaft to rotate, thus converting electrical energy to mechanical energy.
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Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
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Bistable Steering Mechanism for Enhanced Control in Soft Toroidal Robots.

Shinwoo Park1, Nam Gyun Kim2, Dongoh Seo1

  • 1Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea.

Soft Robotics
|April 15, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a novel soft toroidal robot with a unique steering mechanism for navigating complex environments. The robot utilizes bistable deformation for enhanced maneuverability in confined spaces.

Keywords:
bistabilitysoft robotsoft robot applicationssoft robot materials and designsoft toroidal robotsteering mechanism

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Area of Science:

  • Robotics
  • Materials Science

Background:

  • Conventional robots struggle with maneuverability in confined spaces like pipes and biological tissues.
  • Soft toroidal robots offer a compact alternative but lack effective steering mechanisms.

Purpose of the Study:

  • To develop a steering mechanism for soft toroidal robots by exploiting their inherent bistable characteristics.
  • To enhance the adaptability and efficiency of soft robots in dynamic and complex terrains.

Main Methods:

  • Developed a steering mechanism using the bistable properties of a toroidal structure and orthotropic ripstop nylon fabric.
  • Employed theoretical modeling and experimental validation to identify key design parameters.
  • Achieved 1-degree of freedom (DOF) steering by adjusting tail position within the structure.

Main Results:

  • Demonstrated a soft toroidal robot (70 mm diameter, 400 mm length) capable of 1-DOF steering.
  • Achieved a maximum curvature of 13.4 m⁻¹ through bistable deformation.
  • Successfully navigated a T-shaped pipe and climbed vertically in confined spaces.

Conclusions:

  • The novel steering mechanism significantly enhances the maneuverability of soft toroidal robots.
  • This technology shows great potential for applications in confined environments, including industrial inspection and medical procedures.
  • Soft toroidal robots with bistable steering offer a promising solution for navigating challenging terrains with increased efficiency.