dc.contributor.author |
Kohls, Noah |
|
dc.contributor.author |
Dias, Beatriz |
|
dc.contributor.author |
Mensah, Yaw |
|
dc.contributor.author |
Ruddy, Bryan P |
|
dc.contributor.author |
Mazumdar, Yi Chen |
|
dc.coverage.spatial |
ELECTR NETWORK |
|
dc.date.accessioned |
2022-02-16T21:22:29Z |
|
dc.date.available |
2022-02-16T21:22:29Z |
|
dc.date.issued |
2020-8-31 |
|
dc.identifier.citation |
Proceedings - IEEE International Conference on Robotics and Automation, 01 May 2020 |
|
dc.identifier.isbn |
9781728173955 |
|
dc.identifier.issn |
1050-4729 |
|
dc.identifier.uri |
https://hdl.handle.net/2292/58220 |
|
dc.description.abstract |
Soft materials and compliant actuation concepts have generated new design and control approaches in areas from robotics to wearable devices. Despite the potential of soft robotic systems, most designs currently use hard pumps, valves, and electromagnetic actuators. In this work, we take a step towards fully soft robots by developing a new compliant electromagnetic actuator architecture using gallium-indium liquid metal conductors, as well as compliant permanent magnetic and compliant iron composites. Properties of the new materials are first characterized and then co-fabricated to create an exemplary biologically-inspired soft actuator with pulsing or grasping motions, similar to Xenia soft corals. As current is applied to the liquid metal coil, the compliant permanent magnetic tips on passive silicone arms are attracted or repelled. The dynamics of the robotic actuator are characterized using stochastic system identification techniques and then operated at the resonant frequency of 7 Hz to generate high-stroke (>6 mm) motions. |
|
dc.publisher |
IEEE |
|
dc.relation.ispartof |
2020 IEEE International Conference on Robotics and Automation (ICRA) |
|
dc.relation.ispartofseries |
2020 IEEE International Conference on Robotics and Automation (ICRA) |
|
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
|
dc.rights |
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
|
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
|
dc.rights.uri |
https://journals.ieeeauthorcenter.ieee.org/become-an-ieee-journal-author/publishing-ethics/guidelines-and-policies/post-publication-policies/#accepted |
|
dc.subject |
Science & Technology |
|
dc.subject |
Technology |
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dc.subject |
Automation & Control Systems |
|
dc.subject |
Engineering, Electrical & Electronic |
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dc.subject |
Robotics |
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dc.subject |
Engineering |
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dc.subject |
STOCHASTIC-SYSTEM IDENTIFICATION |
|
dc.subject |
FORCE |
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dc.subject |
FABRICATION |
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dc.subject |
MAGNETS |
|
dc.subject |
DESIGN |
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dc.subject |
SENSOR |
|
dc.subject |
COIL |
|
dc.title |
Compliant Electromagnetic Actuator Architecture for Soft Robotics |
|
dc.type |
Conference Item |
|
dc.identifier.doi |
10.1109/icra40945.2020.9197442 |
|
pubs.begin-page |
9042 |
|
pubs.volume |
00 |
|
dc.date.updated |
2022-01-17T04:03:10Z |
|
dc.rights.holder |
Copyright: IEEE |
en |
pubs.author-url |
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000712319505139&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=6e41486220adb198d0efde5a3b153e7d |
|
pubs.end-page |
9049 |
|
pubs.finish-date |
2020-8-31 |
|
pubs.publication-status |
Published |
|
pubs.start-date |
2020-5-31 |
|
dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |
pubs.elements-id |
817490 |
|
dc.identifier.eissn |
2577-087X |
|