Deforming control for object transportation with ferrofluid-based sheet-type soft robot

This paper describes object transport using a sheet-type soft robot with a ferrofluid. We propose this robot with prior knowledge that the robot can transport a sphere on its surface by controlling the flow of ferrofluid with a magnetic field. However, for practical use of this robot, we must consid...

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Bibliographic Details
Published in2015 IEEE International Conference on Automation Science and Engineering (CASE) pp. 1171 - 1176
Main Authors Tone, Tadayuki, Suzuki, Kenji
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2015
Subjects
Electromagnets
Magnetic hysteresis
Manipulators
Oscillators
Saturation magnetization
Transportation
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Summary:This paper describes object transport using a sheet-type soft robot with a ferrofluid. We propose this robot with prior knowledge that the robot can transport a sphere on its surface by controlling the flow of ferrofluid with a magnetic field. However, for practical use of this robot, we must consider a method in which the robot transports several objects, including a non-rolling object. Therefore, we verify the deformation control of this robot by making the robot move two spheres simultaneously and a thin circular plate on its surface. We also verify the deformation control of this robot in an alternative configuration. By exploiting the surface deformation, the robot can transport these objects.
ISSN:2161-8070
2161-8089
DOI:10.1109/CoASE.2015.7294256