Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

Sishen Yuan; Sifan Cao; Junnan Xue; Shijian Su; Junyan Yan; Min Wang; Wenchao Yue; Shing Shin Cheng; Jun Liu; Jiaole Wang; Shuang Song; Max Q.-H Meng; Hongliang Ren

doi:10.1109/LRA.2022.3194318

Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

Sishen Yuan, Sifan Cao, Junnan Xue, Shijian Su, Junyan Yan, Min Wang, Wenchao Yue, Shing Shin Cheng, Jun Liu, Jiaole Wang, Shuang Song, Max Q.-H Meng^*, Hongliang Ren^*

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

30 Citations (Scopus)

Abstract

Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This paper will focus on the motion generation and open-loop control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring (OS) skeleton only using uniform magnetic field control. We investigate the associated motion generation mechanism and the corresponding control signals for the magnetic spring robot (MSR). The MSR can perform in-plane crawling (Worm Crawling) and perpendicular in-plane crawling (Crab Crawling) under two-dimensional magnetic signal inputs. Moreover, the OS's stretch-twist coupling characteristic is utilized to achieve axial Rolling Motion with axial magnetization configuration. We further experimentally tested the performance of three motions with average normalized velocities of 0.34±0.039(body length/s), 0.054±0.0066(body length/s), and 1.46±0.069(body length/s), respectively.

Original language	English
Pages (from-to)	10486-10493
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	4
Online published	27 Jul 2022
DOIs	https://doi.org/10.1109/LRA.2022.3194318
Publication status	Published - Oct 2022

Funding

This work was supported in part by CUHK Direct for Research under Grant 4055139, in part by the Key Project of the Regional Joint Fund Project of the Basic and Applied Research Fund of Guangdong Province, under Grant 2021B1515120035 (B.02.21.00101), in part by the Hong Kong Research Grants Council (RGC) Collaborative Research Fund under Grant CRF C4063-18 G, and in part by the Shenzhen-Hong Kong-Macau Technology Research Programme (Type C) under Grant 202108233000303.

Research Keywords

Crab Crawling
Grippers
Magnetic fields
Magnetic flux
Magnetic Spring Robot (MSR)
Motion Generation
Robots
Rolling Motion
Soft robotics
Springs
Torque
Worm Crawling

RGC Funding Information

RGC-funded

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10.1109/LRA.2022.3194318

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title = "Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field",

abstract = "Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This paper will focus on the motion generation and open-loop control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring (OS) skeleton only using uniform magnetic field control. We investigate the associated motion generation mechanism and the corresponding control signals for the magnetic spring robot (MSR). The MSR can perform in-plane crawling (Worm Crawling) and perpendicular in-plane crawling (Crab Crawling) under two-dimensional magnetic signal inputs. Moreover, the OS's stretch-twist coupling characteristic is utilized to achieve axial Rolling Motion with axial magnetization configuration. We further experimentally tested the performance of three motions with average normalized velocities of 0.34±0.039(body length/s), 0.054±0.0066(body length/s), and 1.46±0.069(body length/s), respectively.",

keywords = "Crab Crawling, Grippers, Magnetic fields, Magnetic flux, Magnetic Spring Robot (MSR), Motion Generation, Robots, Rolling Motion, Soft robotics, Springs, Torque, Worm Crawling",

author = "Sishen Yuan and Sifan Cao and Junnan Xue and Shijian Su and Junyan Yan and Min Wang and Wenchao Yue and Cheng, {Shing Shin} and Jun Liu and Jiaole Wang and Shuang Song and Meng, {Max Q.-H} and Hongliang Ren",

year = "2022",

month = oct,

doi = "10.1109/LRA.2022.3194318",

language = "English",

volume = "7",

pages = "10486--10493",

journal = "IEEE Robotics and Automation Letters",

issn = "2377-3766",

publisher = "IEEE",

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TY - JOUR

T1 - Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

AU - Yuan, Sishen

AU - Cao, Sifan

AU - Xue, Junnan

AU - Su, Shijian

AU - Yan, Junyan

AU - Wang, Min

AU - Yue, Wenchao

AU - Cheng, Shing Shin

AU - Liu, Jun

AU - Wang, Jiaole

AU - Song, Shuang

AU - Meng, Max Q.-H

AU - Ren, Hongliang

PY - 2022/10

Y1 - 2022/10

N2 - Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This paper will focus on the motion generation and open-loop control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring (OS) skeleton only using uniform magnetic field control. We investigate the associated motion generation mechanism and the corresponding control signals for the magnetic spring robot (MSR). The MSR can perform in-plane crawling (Worm Crawling) and perpendicular in-plane crawling (Crab Crawling) under two-dimensional magnetic signal inputs. Moreover, the OS's stretch-twist coupling characteristic is utilized to achieve axial Rolling Motion with axial magnetization configuration. We further experimentally tested the performance of three motions with average normalized velocities of 0.34±0.039(body length/s), 0.054±0.0066(body length/s), and 1.46±0.069(body length/s), respectively.

AB - Magnetic soft robots have attracted widespread attention for their untethered, remotely operated, and compliant deformation characteristics. Earlier work has demonstrated magnetic origami robots' diverse locomotion capabilities. This paper will focus on the motion generation and open-loop control of an untethered magnetic flexible robot with a stretch-twist coupling origami spring (OS) skeleton only using uniform magnetic field control. We investigate the associated motion generation mechanism and the corresponding control signals for the magnetic spring robot (MSR). The MSR can perform in-plane crawling (Worm Crawling) and perpendicular in-plane crawling (Crab Crawling) under two-dimensional magnetic signal inputs. Moreover, the OS's stretch-twist coupling characteristic is utilized to achieve axial Rolling Motion with axial magnetization configuration. We further experimentally tested the performance of three motions with average normalized velocities of 0.34±0.039(body length/s), 0.054±0.0066(body length/s), and 1.46±0.069(body length/s), respectively.

KW - Crab Crawling

KW - Grippers

KW - Magnetic fields

KW - Magnetic flux

KW - Magnetic Spring Robot (MSR)

KW - Motion Generation

KW - Robots

KW - Rolling Motion

KW - Soft robotics

KW - Springs

KW - Torque

KW - Worm Crawling

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DO - 10.1109/LRA.2022.3194318

M3 - RGC 21 - Publication in refereed journal

SN - 2377-3766

VL - 7

SP - 10486

EP - 10493

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

IS - 4

ER -

Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

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CRF: A Robotic Wireless Capsule Endoscopic System for Automated Gastrointestinal Disease Diagnosis

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Versatile Motion Generation of Magnetic Origami Spring Robots in the Uniform Magnetic Field

Abstract

Funding

Research Keywords

RGC Funding Information

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CRF: A Robotic Wireless Capsule Endoscopic System for Automated Gastrointestinal Disease Diagnosis

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