Task space adaptation via the learning of gait controllers of magnetic soft millirobots.

ABSTRACT: Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can directly and non-invasively access confined and hard-to-reach spaces in the human body. For such potential biomedical applications, the adaptivity of the robot control is essential to ensure the continuity of the operations, as task environment conditions show dynamic variations that can alter the robot's motion and task performance. The applicability of the conventional modeling and control methods is further limited for soft robots at the small-scale owing to their kinematics with virtually infinite degrees of freedom, inherent stochastic variability during fabrication, and changing dynamics during real-world interactions. To ad

SUBMITTER: Demir SO 

PROVIDER: S-EPMC7612667 | biostudies-literature | 2021 Dec

REPOSITORIES: biostudies-literature