ICRA 2011 Paper Abstract


Paper WeA207.2

Kim, Dal Hyung (Drexel University), Brigandi, Sean (Drexel University), Julius, Agung (Rensselaer Polytechnic Institute), Kim, MinJun (Drexel University)

Real-Time Feedback Control Using Artificial Magnetotaxis with Rapidly-Exploring Random Tree (RRT) for Tetrahymena Pyriformis As a Microbiorobot

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots V" (WeA207), Wednesday, May 11, 2011, 10:20−10:35, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Biologically-Inspired Robots, Micro/Nano Robots, Micro and Nanoscale Automation


In this paper, we present real-time feedback control combined with a feasible path planner to manipulate a type of microorganism, Tetrahymena pyriformis (T. pyriformis), as a micro-bio-robot using artificial magnetotaxis. Artificially magnetotactic T. pyriformis cells were created by internalization of iron oxide nano particles. Following the magnetization of the internalized particles, the cells become controllable using an external time-varying magnetic field. The behavior of artificially magnetotactic T. pyriformis under a magnetic field has been investigated in a manual control experiment. A feasible path planner called rapidly-exploring random tree (RRT) and a feedback control scheme are implemented to guide the cell to a desired position and orientation. Since the motion of T. pyriformis is nonlinear like that of a car, combining the RRT and feedback control allows the cell to be controlled in 3-dimensional (x, y, θ) space. In the results, real-time feedback control of T. pyriformis in 3-dimensional space demonstrated the potential of utilizing T. pyriformis as a micro-bio-robot for microscale tasks.



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