Magnetic Field-Driven Bristle-Bots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21110%2F23%3A00369024" target="_blank" >RIV/68407700:21110/23:00369024 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21230/23:00369024 RIV/68407700:21730/23:00369024

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2023.3324881" target="_blank" >https://doi.org/10.1109/LRA.2023.3324881</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2023.3324881" target="_blank" >10.1109/LRA.2023.3324881</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Magnetic Field-Driven Bristle-Bots

Popis výsledku v původním jazyce

Widespread demand for mobile robots is pushing the research envelope for the development of new robot driving mechanisms that can handle diverse environments. Bristle-bot-like robot designs, investigated increasingly over the past decade, are based on vibration mechanisms built on flexible legs that enable motion on the ground. However, creating scalable and steerable bristle-bots remains a challenge. Therefore, we developed a new kind of magnetic field-driven bristle-bots with a wireless control and power supply that can be steered and downscaled. Therefore, in our experimental study with a working prototype, we developed a new kind of magnetic field-driven bristle-bot designed for wireless control and power supply. These bristle-bots can thus be steered and downscaled. We verified our concept experimentally using 3D-printed bristle-bots with body-embedded permanent magnets actuated via torque imposed by an external magnetic field. An AC-powered Helmholtz coil generated the bristle-bot’s driving field, providing 2D input control, field amplitude, and frequency. A variable number of legs on each side of a bristle-bot’s body was used to ensure that each side of these sides has a different frequency response. This asymmetry introduced steerability with a rich set of control commands, including rotations with simultaneous forward and backward locomotion. We also observed side locomotion not yet described in previous studies. The results presented were supported with data from numerous experiments and thorough statistical analysis, indicating promising directions for future bristle-bot development.

Název v anglickém jazyce

Magnetic Field-Driven Bristle-Bots

Popis výsledku anglicky

Widespread demand for mobile robots is pushing the research envelope for the development of new robot driving mechanisms that can handle diverse environments. Bristle-bot-like robot designs, investigated increasingly over the past decade, are based on vibration mechanisms built on flexible legs that enable motion on the ground. However, creating scalable and steerable bristle-bots remains a challenge. Therefore, we developed a new kind of magnetic field-driven bristle-bots with a wireless control and power supply that can be steered and downscaled. Therefore, in our experimental study with a working prototype, we developed a new kind of magnetic field-driven bristle-bot designed for wireless control and power supply. These bristle-bots can thus be steered and downscaled. We verified our concept experimentally using 3D-printed bristle-bots with body-embedded permanent magnets actuated via torque imposed by an external magnetic field. An AC-powered Helmholtz coil generated the bristle-bot’s driving field, providing 2D input control, field amplitude, and frequency. A variable number of legs on each side of a bristle-bot’s body was used to ensure that each side of these sides has a different frequency response. This asymmetry introduced steerability with a rich set of control commands, including rotations with simultaneous forward and backward locomotion. We also observed side locomotion not yet described in previous studies. The results presented were supported with data from numerous experiments and thorough statistical analysis, indicating promising directions for future bristle-bot development.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GX19-26143X" target="_blank" >GX19-26143X: Neperiodické materiály vykazující strukturované deformace: Modulární návrh a výroba</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

8

Číslo periodika v rámci svazku

12

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

8098-8105

Kód UT WoS článku

001093405900003

EID výsledku v databázi Scopus

2-s2.0-85174849316