Soft robot actuators using energy-efficient valves controlled by electropermanent magnets

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.

[1]  Nikolaus Correll,et al.  Soft Autonomous Materials - Using Active Elasticity and Embedded Distributed Computation , 2010, ISER.

[2]  Ivan Yatchev,et al.  Dynamic characteristics of a permanent magnet electromagnetic valve actuator , 2010, 2010 12th International Conference on Optimization of Electrical and Electronic Equipment.

[3]  K. Suzumori,et al.  The development of an in-pipe microrobot applying the motion of an earthworm , 1994, 1994 5th International Symposium on Micro Machine and Human Science Proceedings.

[4]  Koichi Suzumori,et al.  The development of an in-pipe microrobot applying the motion of an earthworm , 1994, 1994 5th International Symposium on Micro Machine and Human Science Proceedings.

[5]  Daniela Rus,et al.  Robot pebbles: One centimeter modules for programmable matter through self-disassembly , 2010, 2010 IEEE International Conference on Robotics and Automation.

[6]  Cheng Jian,et al.  Electro-Pneumatic Pressure Servo-Control for a Miniature Robot with Rubber Actuator , 2010, 2010 International Conference on Digital Manufacturing & Automation.

[7]  H. Tanaka,et al.  Applying a flexible microactuator to robotic mechanisms , 1992, IEEE Control Systems.

[8]  Koichi SUZUMORI,et al.  A novel pneumatic rubber actuator for mobile robot bases , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[9]  Ara Knaian,et al.  Electropermanent magnetic connectors and actuators: devices and their application in programmable matter , 2010 .

[10]  Oleg Ivlev,et al.  Precise position and trajectory control of pneumatic soft-actuators for assistance robots and motion therapy devices , 2009, 2009 IEEE International Conference on Rehabilitation Robotics.

[11]  Lanny S. Smoot,et al.  Self locomotion of a spherical rolling robot using a novel deformable pneumatic method , 2010, 2010 IEEE International Conference on Robotics and Automation.

[12]  L. Tutelea,et al.  Electromagnetic, thermal and mechanical design of a linear PM valve actuator laboratory model , 2008, 2008 11th International Conference on Optimization of Electrical and Electronic Equipment.

[13]  Koichi Suzumori,et al.  Development of tetra chamber actuator , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Koichi Suzumori,et al.  A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.