ICRA 2011 Paper Abstract

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Paper TuA104.4

Diller, Eric D. (Carnegie Mellon University), Floyd, Steven (Arete Associates), Pawashe, Chytra (Carnegie Mellon University), Sitti, Metin (Carnegie Mellon University)

Control of Multiple Heterogeneous Magnetic Micro-Robots on Non-Specialized Surfaces

Scheduled for presentation during the Invited Sessions "ICRA Robot Challenge: Advancing Research Through Competitions" (TuA104), Tuesday, May 10, 2011, 09:05−09:20, Room 3E

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 April 2, 2020

Keywords Micro/Nano Robots, Parallel Robots, Distributed Robot Systems

Abstract

In this work, we develop methods for controlling multiple untethered magnetic micro-robots (called Mag-uBots), with all dimensions under 1 mm, without the need for a specialized surface. We investigate sets of Mag-uBots that are geometrically and magnetically designed to respond uniquely to the same magnetic fields. The responses of geometrically dissimilar Mag-uBots with similar magnetization and a group of identically-fabricated Mag-uBots are investigated. By controlling the magnetic field waveforms, individual and sub-groups of Mag-uBots are able to locomote in a parallel but dissimilar fashion. Specifically, the pulsing frequency of the imposed driving magnetic fields is used as a selection method among the Mag-uBots. This method for accomplishing motion discrimination is discussed, modeled, and tested. Independent global positioning of two and three robots is demonstrated in two-dimensional space. While individual Mag-uBot velocities can be as high as 7mm/s, the effective velocities during multi-robot control are found to be up to 2mm/s. As this control method is accomplished without the use of a specialized surface, it has potential applications in areas such as micro-fluidic systems and bio-manipulation.

 

 

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