A magnetically actuated soft robot and its motion regulation

摘要

Inspired by molluscs, researchers have developed soft robots with greater freedom of movement and more adaptable to unstructured environments. Herein, a multi-locomotion soft robot based on magnetic composites is proposed. The space variable magnetic field impels the robot to generate a series of time-varying shapes, in order to accomplish all sorts of necessary motion gait. By integrating experimental exploration, theoretical research and finite element analysis, the pose kinematics of the robot are deeply analyzed, yielding an accurate description of its motion characteristics and fundamental laws. On this basis, control strategies are formulated to achieve customized crawling maneuvers and path planning for the robot in response to varying tasks. It is hoped that this research has profound significance for the improvement of traditional robots and the promotion of the development of intelligent devices.