Soft robot actuators using energy-efficient valves controlled by electropermanent magnets
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Rus_Soft robot actuators.pdf
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373.1 KB
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aa196501b7b5a0855ddb9687f920d674
Author(s)
Marchese, Andrew Dominic
Onal, Cagdas
Rus, Daniela L.
Date Issued
December 2011
Journal
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Marchese, Andrew D., Cagdas D. Onal, and Daniela Rus. “Soft Robot Actuators Using Energy-efficient Valves Controlled by Electropermanent Magnets.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. 756–761.
Version
Author's final manuscript
Abstract
This paper presents the design, fabrication, and evaluation of a novel type of valve that uses an electropermanent magnet [1]. This valve is then used to build actuators for a soft robot. The developed EPM valves require only a brief (5 ms) pulse of current to turn flow on or off for an indefinite period of time. EPMvalves are characterized and demonstrated to be well suited for the control of elastomer fluidic actuators. The valves drive the pressurization and depressurization of fluidic channels within soft actuators. Furthermore, the forward locomotion of a soft, multi-actuator rolling robot is driven by EPM valves. The small size and energy-efficiency of EPM valves may make them valuable in soft mobile robot applications.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2011.6095064
