ICRA 2011 Paper Abstract


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


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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