Deforming control for object transportation with ferrofluid-based sheet-type soft robot

This paper describes object transport using a sheet-type soft robot with a ferrofluid. We propose this robot with prior knowledge that the robot can transport a sphere on its surface by controlling the flow of ferrofluid with a magnetic field. However, for practical use of this robot, we must consider a method in which the robot transports several objects, including a non-rolling object. Therefore, we verify the deformation control of this robot by making the robot move two spheres simultaneously and a thin circular plate on its surface. We also verify the deformation control of this robot in an alternative configuration. By exploiting the surface deformation, the robot can transport these objects.