Biomimetic swimming mini-robots using electro-magnetic actuation (EMA) system

Hyunchul Choi, Semi Jeong, Cheong Lee, Youngho Ko, Seong Young Ko, Jong Oh Park, Sukho Park

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

For the actuation of mini-robots, electromagnetic based actuation (EMA) methods were proposed. EMA system has many advantages for the wireless actuation of mini-robots. This paper introduces our proposed biomimetic swimming mini-robots such as tadpole robot and jellyfish robot. The biomimetic swimming mini-robots could be driven by an external alternating magnet field using three pairs of Helmholtz coils. The swimming mini-robots consist of a buoyant robot body, permanent magnets, and fins. Especially, the tadpole mini-robot has a single fin which is directly linked to the permanent magnet and the jellyfish mini-robot has multiple fins which have a permanent magnet at the end of fin. The external alternating magnetic field from three pairs of Helmholtz coils could generate the propulsion and steering force of the tadpole mini-robot and the jellyfish mini-robot in 2- and 3-dimensional (-D) space. Firstly, we demonstrated the fabrications of the EMA coil system and the mini-robots. Secondly, we summarized the locomotive algorithms of the mini-robots using EMA. Thirdly, we setup the control system for the EMA driven mini-robots, which consists of EMA coils, dual cameras, controller, power amplifier, and conventional joystick. Through various experiments, we evaluated the locomotion algorithms the swimming mini-robots using EMA system. Finally, we demonstrated the performances of the swimming mini-robots in 2-D and 3-D space.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages1923-1926
Number of pages4
StatePublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 17 Oct 201221 Oct 2012

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Conference

Conference2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Country/TerritoryKorea, Republic of
CityJeju
Period17/10/1221/10/12

Keywords

  • Electro-Magnetic Field
  • Helmholtz coil
  • Jellyfish
  • Magnetic Field
  • Mini-robot
  • Swimming Robot
  • Tadpole

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