Abstract
To create a miniature shapeshifting robot capable of controlled movement, subdivision, regeneration, passage through small channels, engulfment of particles, object manipulation, and flow manipulation, a droplet of magnetically responsive ferrofluid is used. The ferrofluidic robot can achieve the aforementioned functions when both its position and shape are controlled using a custom electromagnetic field generation system. It is demonstrated that the proposed robot can perform these functions with submillimeter and subdegree error. A robot having these capabilities can remotely perform medical and microassembly tasks requiring fine dexterity that are currently difficult or impossible.
Original language | English (US) |
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Pages (from-to) | 687-698 |
Number of pages | 12 |
Journal | Soft Robotics |
Volume | 8 |
Issue number | 6 |
DOIs | |
State | Published - Dec 2021 |
Keywords
- controls
- electromagnetic actuation
- ferrofluid
- functional materials
- robotics
ASJC Scopus subject areas
- Control and Systems Engineering
- Biophysics
- Artificial Intelligence