MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot

Niu, Hanqing; Feng, Ruoyu; Xie, Yuwei; Jiang, Bowen; Sheng, Yongzhi; Yu, Yang; Baoyin, Hexi; Zeng, Xia

doi:10.1089/soro.2019.0167

Cited by 70 publications

(29 citation statements)

References 45 publications

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“…[ 192 ] The magnetic force/torque of dipoles was incorporated into the discrete elastic rod model to simulate a worm‐like robot with embedded magnets. [ 193 ]…”

Section: Control Implementationmentioning

confidence: 99%

“…[192] The magnetic force/torque of dipoles was incorporated into the discrete elastic rod model to simulate a worm-like robot with embedded magnets. [193] Since the kinematic and dynamic models are mathematical representations of the robot, the structure of the robot determines the choice of model. The equivalent lumped system model [194] assumes that soft continuum robots contain a highly articulated rigid link system with an infinite number of disks connected through spring-damper-supported spherical joints.…”

Section: Open-loop Controlmentioning

confidence: 99%

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Control Strategies for Soft Robot Systems

Wang

Chortos

2022

Advanced Intelligent Systems

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Soft robots have recently attracted increased attention because their characteristics of low‐cost fabrication, durability, and deformability make them uniquely suited for applications in bio‐integrated systems. Being fundamentally different from traditional rigid robots, soft robots exhibit properties of infinite degrees of freedom (DOF) and nonlinear materials properties that require innovations in control systems. With the rapid development of materials science, robotics, and artificial intelligence, the diversification of actuator mechanisms and algorithms has enabled a wide range of unique control strategies. This review summarizes the basics of actuator mechanisms and control strategies, including open‐loop control, closed‐loop control, and autonomous control, and discusses their implementation from diversified perspectives. Control strategies are evaluated based on their compatibility with materials sets, application goals, and implementation route. The emerging directions are forecasted from the perspectives of interfacing between controller and actuator, underactuated control strategies, and implementation of artificial intelligence (AI).

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“…[ 192 ] The magnetic force/torque of dipoles was incorporated into the discrete elastic rod model to simulate a worm‐like robot with embedded magnets. [ 193 ]…”

Section: Control Implementationmentioning

confidence: 99%

Section: Open-loop Controlmentioning

confidence: 99%

Control Strategies for Soft Robot Systems

Wang

Chortos

2022

Advanced Intelligent Systems

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“…Silicone elastomers and other polymers used in soft robotics literature, as well as the corresponding number of citations. For this graph, 45 articles were examined: Ecoflex [198][199][200][201][202][203][204][205], Dragon Skin 10/20/30/FX-Pro [206][207][208][209][210][211][212][213][214][215][216][217][218][219][220][221][222][223][224][225], Elastosil M4601 [199,202,218,[226][227][228][229], PDMS [198,208,[230][231][232][232][233][234], Smooth-Sil [200,207,209,218,222,…”

Section: Figurementioning

confidence: 99%

Soft Grippers for Automatic Crop Harvesting: A Review

Navas

Fernández

Sepúlveda

et al. 2021

Sensors

121

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Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.

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“…Consequently, inchworms can attach to complex surfaces while crawling through a highly cluttered environment with various (convex) curvatures (Figure 1A). This has inspired the development of various robots that mimic similar locomotion behavior, under various assumptions from the application perspective (Lim et al, 2008;Koh and Cho 2012;Wang et al, 2014;Moreira et al, 2018;Joyee and Pan, 2019;Yang et al, 2019;Cao et al, 2020;Niu et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

“…While these gripper-based robots can deal with climbing surfaces to some extent, they typically exhibit limitations due to the opening constraints of the gripper (e.g., when gripping a curved surface with a curvature larger than the gripper opening). An alternative approach uses the magnetic force-based method of magnetic adhesion (Joyee and Pan 2019;Niu et al, 2020). It is inherently reliable, and hence, can effectively support robot locomotion on metal pipes (Silva and Machado 2010).…”

Section: Introductionmentioning

confidence: 99%

Electromagnetic Feet With Soft Toes for Adaptive, Versatile, and Stable Locomotion of an Inchworm-Inspired Pipe Crawling Robot

Khan

Chuthong

Homchanthanakul

et al. 2022

Front. Bioeng. Biotechnol.

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Feet play an important role in the adaptive, versatile, and stable locomotion of legged creatures. Accordingly, several robotic research studies have used biological feet as the inspiration for the design of robot feet in traversing complex terrains. However, so far, no robot feet can allow legged robots to adaptively, versatilely, and robustly crawl on various curved metal pipes, including flat surfaces for pipe inspection. To address this issue, we propose here a novel hybrid rigid-soft robot-foot design inspired by the leg morphology of an inchworm. The foot consists of a rigid section with an electromagnet and a soft toe covering for enhanced adhesion to a metal pipe. Finite element analysis , performed under different loading conditions, reveals that due to its compliance, the soft toe can undergo recoverable deformation with adaptability to various curved metal pipes and plain metal surfaces. We have successfully implemented electromagnetic feet with soft toes (EROFT) on an inchworm-inspired pipe crawling robot for adaptive, versatile, and stable locomotion. Foot-to-surface adaptability is provided by the inherent elasticity of the soft toe, making the robot a versatile and stable metal pipe crawler. Experiments show that the robot crawling success rate reaches 100% on large diameter metal pipes. The proposed hybrid rigid-soft feet (i.e., electromagnetic feet with soft toes) can solve the problem of continuous surface adaptation for the robot in a stable and efficient manner, irrespective of the surface curvature, without the need to manually change the robot feet for specific surfaces. To this end, the foot development enables the robot to meet a set of deployment requirements on large oil and gas pipelines for potential use in inspecting various faults and leakages.

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MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot

Cited by 70 publications

References 45 publications

Control Strategies for Soft Robot Systems

Control Strategies for Soft Robot Systems

Soft Grippers for Automatic Crop Harvesting: A Review

Electromagnetic Feet With Soft Toes for Adaptive, Versatile, and Stable Locomotion of an Inchworm-Inspired Pipe Crawling Robot

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