Pittiglio, G orcid.org/0000-0002-0714-5267, Chandler, JH, Richter, M et al. (3 more authors) (2021) Dual-Arm Control for Enhanced Magnetic Manipulation. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 Oct 2020 - 24 Jan 2021, Las Vegas, USA. IEEE , pp. 7211-7218. ISBN 978-1-7281-6213-3
Abstract
Magnetically actuated soft robots have recently been identified for application in medicine, due to their potential to perform minimally invasive exploration of human cavities. Magnetic solutions permit further miniaturization when compared to other actuation techniques, without loss in functionalities. Our long-term goal is to propose a novel actuation method for magnetically actuated soft robots, based on dual-arm collaborative magnetic manipulation. A fundamental step in this direction is to show that this actuation method is capable of controlling up to 8 coincident, independent Degrees of Freedom (DOFs). In present paper, we prove this concept by measuring the independent wrench components on a second pair of static permanent magnets, by means of a high resolution 6-axis load cell. The experiments show dominant activation of the desired DOFs, with mean cross-activation error of the undesired DOFs ranging from 2% to 10%.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2021 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. |
Keywords: | Medical Robots and Systems; Dual Arm Manipulation; Force Control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number Royal Society wm150122 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 EU - European Union 818045 |
Depositing User: | Symplectic Publications |
Date Deposited: | 31 Mar 2021 15:51 |
Last Modified: | 01 Apr 2021 10:12 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/iros45743.2020.9341250 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:172670 |