Magnetic Methods in Robotics

作者：Jake J. Abbott, Eric Diller, Andrew J. Petruska · 发表于：Annual Review of Control Robotics and Autonomous Systems · 年份：2019 · DOI：10.1146/annurev-control-081219-082713 · 被引用次数：357 · 研究领域：Micro and Nano Robotics、Modular Robots and Swarm Intelligence、Soft Robotics and Applications

The goal of this article is to provide a thorough introduction to the state of the art in magnetic methods for remote-manipulation and wireless-actuation tasks in robotics. The article synthesizes prior works using a unified notation, enabling straightforward application in robotics. It begins with a discussion of the magnetic fields generated by magnetic materials and electromagnets, how magnetic materials become magnetized in an applied field, and the forces and torques generated on magnetic objects. It then describes systems used to generate and control applied magnetic fields, including both electromagnetic and permanent-magnet systems. Finally, it surveys work from a variety of robotic application areas in which researchers have utilized magnetic methods, including microrobotics, medical robotics, haptics, and aerospace.