A Shapeshifting Ferrofluidic Robot

Reza Ahmed, Mahdi Ilami, Joseph Bant, Borhan Beigzadeh, Hamid Marvi

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


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 languageEnglish (US)
Pages (from-to)687-698
Number of pages12
JournalSoft Robotics
Issue number6
StatePublished - Dec 2021


  • controls
  • electromagnetic actuation
  • ferrofluid
  • functional materials
  • robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biophysics
  • Artificial Intelligence


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